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Merge pull request #632 from easylyou/ros2

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fix possible stackunderflow in CoreWrapper constructed function
This commit is contained in:
matlabbe
2021-08-24 11:36:42 -04:00
committed by GitHub
parent dfdbe1f683 16857f0bba
commit c0fbb3f1c3
2 changed files with 6 additions and 2 deletions
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include/rtabmap_ros/CoreWrapper.h
+4
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@@ -233,6 +233,10 @@ private:
std::string groundTruthBaseFrameId_; std::string groundTruthBaseFrameId_;
std::string configPath_; std::string configPath_;
std::string databasePath_; std::string databasePath_;
double tfDelay;
double tfTolerance;
double odomDefaultAngVariance_; double odomDefaultAngVariance_;
double odomDefaultLinVariance_; double odomDefaultLinVariance_;
double landmarkDefaultAngVariance_; double landmarkDefaultAngVariance_;
src/CoreWrapper.cpp
+2 -2
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@@ -138,8 +138,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this); tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
bool publishTf = true; bool publishTf = true;
double tfDelay = 0.05; // 20 Hz tfDelay = 0.05; // 20 Hz
double tfTolerance = 0.1; // 100 ms tfTolerance = 0.1; // 100 ms
configPath_ = this->declare_parameter("config_path", configPath_); configPath_ = this->declare_parameter("config_path", configPath_);
databasePath_ = this->declare_parameter("database_path", databasePath_); databasePath_ = this->declare_parameter("database_path", databasePath_);