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merged master -> ros2

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matlabbe
2023-03-04 17:21:00 -08:00
parent 580b0c57dc f2714c8b2a
commit c0e4927f88
10 changed files with 144 additions and 152 deletions
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rtabmap_viz/src/GuiWrapper.cpp
+13 -13
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@@ -99,7 +99,7 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
rtabmapNodeName_ = this->declare_parameter("rtabmap", rtabmapNodeName_);
RCLCPP_INFO(this->get_logger(), "rtabmapviz: Using configuration from \"%s\"", configFile.toStdString().c_str());
RCLCPP_INFO(this->get_logger(), "rtabmap_viz: Using configuration from \"%s\"", configFile.toStdString().c_str());
uSleep(500);
prefDialog_ = new PreferencesDialogROS(this, configFile, rtabmapNodeName_);
mainWindow_ = new MainWindow(prefDialog_);
@@ -126,12 +126,12 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
{
initCachePath = UDirectory::currentDir(true) + initCachePath;
}
RCLCPP_INFO(this->get_logger(), "rtabmapviz: Initializing cache with local database \"%s\"", initCachePath.c_str());
RCLCPP_INFO(this->get_logger(), "rtabmap_viz: Initializing cache with local database \"%s\"", initCachePath.c_str());
if(!callMapDataService("get_map_data", false, true, true))
{
RCLCPP_ERROR(this->get_logger(),
"The cache will still be loaded "
"but the clouds won't be created until next time rtabmapviz "
"but the clouds won't be created until next time rtabmap_viz "
"receives the optimized graph.");
}
QMetaObject::invokeMethod(mainWindow_, "updateCacheFromDatabase", Q_ARG(QString, QString(initCachePath.c_str())));
@@ -174,7 +174,7 @@ void GuiWrapper::infoMapCallback(
const rtabmap_msgs::msg::Info::ConstSharedPtr infoMsg,
const rtabmap_msgs::msg::MapData::ConstSharedPtr mapMsg)
{
//RCLCPP_INFO(this->get_logger(), "rtabmapviz: RTAB-Map info ex received!");
//RCLCPP_INFO(this->get_logger(), "rtabmap_viz: RTAB-Map info ex received!");
// Map from ROS struct to rtabmap struct
rtabmap::Statistics stat;
@@ -290,7 +290,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
rtabmap::ParametersMap parameters = ((rtabmap::ParamEvent *)anEvent)->getParameters();
std::vector<rclcpp::Parameter> rosParameters;
auto node = rclcpp::Node::make_shared("rtabmapviz");
auto node = rclcpp::Node::make_shared("rtabmap_viz");
for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
{
//save only parameters with valid names
@@ -612,7 +612,7 @@ void GuiWrapper::commonMultiCameraCallback(
waitForTransform_,
imagesAlreadyRectified))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert rgb/depth msgs! Aborting rtabmapviz update...");
RCLCPP_ERROR(this->get_logger(), "Could not convert rgb/depth msgs! Aborting rtabmap_viz update...");
return;
}
}
@@ -628,7 +628,7 @@ void GuiWrapper::commonMultiCameraCallback(
*tfBuffer_,
waitForTransform_))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert laser scan msg! Aborting rtabmapviz update...");
RCLCPP_ERROR(this->get_logger(), "Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -643,7 +643,7 @@ void GuiWrapper::commonMultiCameraCallback(
*tfBuffer_,
waitForTransform_))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
RCLCPP_ERROR(this->get_logger(), "Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -801,7 +801,7 @@ void GuiWrapper::commonStereoCallback(
waitForTransform_,
imagesAlreadyRectified))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert stereo msgs! Aborting rtabmapviz update...");
RCLCPP_ERROR(this->get_logger(), "Could not convert stereo msgs! Aborting rtabmap_viz update...");
return;
}
@@ -816,7 +816,7 @@ void GuiWrapper::commonStereoCallback(
*tfBuffer_,
waitForTransform_))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert laser scan msg! Aborting rtabmapviz update...");
RCLCPP_ERROR(this->get_logger(), "Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -831,7 +831,7 @@ void GuiWrapper::commonStereoCallback(
*tfBuffer_,
waitForTransform_))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
RCLCPP_ERROR(this->get_logger(), "Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -963,7 +963,7 @@ void GuiWrapper::commonLaserScanCallback(
*tfBuffer_,
waitForTransform_))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert laser scan msg! Aborting rtabmapviz update...");
RCLCPP_ERROR(this->get_logger(), "Could not convert laser scan msg! Aborting rtabmap_viz update...");
return;
}
}
@@ -978,7 +978,7 @@ void GuiWrapper::commonLaserScanCallback(
*tfBuffer_,
waitForTransform_))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert 3d laser scan msg! Aborting rtabmapviz update...");
RCLCPP_ERROR(this->get_logger(), "Could not convert 3d laser scan msg! Aborting rtabmap_viz update...");
return;
}
}