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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2026-04-19 16:11:54 -07:00
parent fb27ac0eda 08e7d63678
commit c590afe069
2 changed files with 11 additions and 7 deletions
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rtabmap_conversions/CMakeLists.txt
+1 -1
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@@ -29,7 +29,7 @@ find_package(tf2 REQUIRED)
find_package(tf2_eigen REQUIRED) find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED) find_package(tf2_geometry_msgs REQUIRED)
find_package(RTABMap 0.23.4 REQUIRED) find_package(RTABMap 0.23.5 REQUIRED)
include_directories( include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/include
rtabmap_slam/src/CoreWrapper.cpp
+10 -6
View File
@@ -2431,8 +2431,8 @@ void CoreWrapper::process(
if(rtabmap_.getMemory() == 0 || if(rtabmap_.getMemory() == 0 ||
filteredPoses.size() == 0 || filteredPoses.size() == 0 ||
rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first || rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first ||
rtabmap_.getMemory()->getLastWorkingSignature() == 0 || rtabmap_.getMemory()->getLastWorkingSignature(true) == 0 ||
rtabmap_.getMemory()->getLastWorkingSignature()->sensorData().gridCellSize() == 0 || rtabmap_.getMemory()->getLastWorkingSignature(true)->sensorData().gridCellSize() == 0 ||
(!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data (!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
{ {
SensorData tmpData = data; SensorData tmpData = data;
@@ -3845,9 +3845,9 @@ void CoreWrapper::getNodeDataCallback(
req->grid?"true":"false", req->grid?"true":"false",
req->user_data?"true":"false"); req->user_data?"true":"false");
if(req->ids.empty() && rtabmap_.getMemory() && rtabmap_.getMemory()->getLastWorkingSignature()) if(req->ids.empty() && rtabmap_.getMemory() && rtabmap_.getMemory()->getLastWorkingSignature(true))
{ {
req->ids.push_back(rtabmap_.getMemory()->getLastWorkingSignature()->id()); req->ids.push_back(rtabmap_.getMemory()->getLastWorkingSignature(true)->id());
} }
for(size_t i=0; i<req->ids.size(); ++i) for(size_t i=0; i<req->ids.size(); ++i)
{ {
@@ -3885,6 +3885,8 @@ void CoreWrapper::getMapDataCallback(
!req->graph_only, !req->graph_only,
!req->graph_only, !req->graph_only,
!req->graph_only, !req->graph_only,
!req->graph_only,
!req->graph_only,
!req->graph_only); !req->graph_only);
mapToOdomMutex_.lock(); mapToOdomMutex_.lock();
@@ -3911,13 +3913,15 @@ void CoreWrapper::getMapData2Callback(
const std::shared_ptr<rtabmap_msgs::srv::GetMap2::Request> req, const std::shared_ptr<rtabmap_msgs::srv::GetMap2::Request> req,
std::shared_ptr<rtabmap_msgs::srv::GetMap2::Response> res) std::shared_ptr<rtabmap_msgs::srv::GetMap2::Response> res)
{ {
RCLCPP_INFO(get_logger(), "rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s)...", RCLCPP_INFO(get_logger(), "rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s with_words=%s with_global_descriptors=%s)...",
req->global_map?"true":"false", req->global_map?"true":"false",
req->optimized?"true":"false", req->optimized?"true":"false",
req->with_images?"true":"false", req->with_images?"true":"false",
req->with_scans?"true":"false", req->with_scans?"true":"false",
req->with_user_data?"true":"false", req->with_user_data?"true":"false",
req->with_grids?"true":"false"); req->with_grids?"true":"false",
req->with_words?"true":"false",
req->with_global_descriptors?"true":"false");
std::map<int, Signature> signatures; std::map<int, Signature> signatures;
std::map<int, Transform> poses; std::map<int, Transform> poses;
std::multimap<int, rtabmap::Link> constraints; std::multimap<int, rtabmap::Link> constraints;