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rtabmap node: added map_cache_loaded_on_init parameter (default true, like before) to avoid (when false) loading all local grids in cache on init (in case we know we are in localization mode and not using memory management)

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matlabbe
2025-08-18 16:59:12 -07:00
parent ad785e2327
commit ca4d33151c
2 changed files with 7 additions and 1 deletions
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rtabmap_util/include/rtabmap_util/MapsManager.h
+1
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@@ -100,6 +100,7 @@ private:
bool mapCacheCleanup_;
bool alwaysUpdateMap_;
bool scanEmptyRayTracing_;
bool localMapsCacheLoadedOnInit_;
ros::Publisher cloudMapPub_;
ros::Publisher cloudGroundPub_;
rtabmap_util/src/MapsManager.cpp
+6 -1
View File
@@ -70,6 +70,7 @@ MapsManager::MapsManager() :
mapCacheCleanup_(true),
alwaysUpdateMap_(false),
scanEmptyRayTracing_(true),
localMapsCacheLoadedOnInit_(true),
assembledObstacles_(new pcl::PointCloud<pcl::PointXYZRGB>),
assembledGround_(new pcl::PointCloud<pcl::PointXYZRGB>),
occupancyGrid_(new OccupancyGrid(&localMaps_)),
@@ -122,6 +123,7 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
}
}
pnh.param("map_empty_ray_tracing", scanEmptyRayTracing_, scanEmptyRayTracing_);
pnh.param("map_cache_loaded_on_init", localMapsCacheLoadedOnInit_, localMapsCacheLoadedOnInit_);
if(pnh.hasParam("scan_output_voxelized"))
{
@@ -141,6 +143,7 @@ void MapsManager::init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::s
ROS_INFO("%s(maps): map_cleanup = %s", name.c_str(), mapCacheCleanup_?"true":"false");
ROS_INFO("%s(maps): map_always_update = %s", name.c_str(), alwaysUpdateMap_?"true":"false");
ROS_INFO("%s(maps): map_empty_ray_tracing = %s", name.c_str(), scanEmptyRayTracing_?"true":"false");
ROS_INFO("%s(maps): map_cache_loaded_on_init = %s", name.c_str(), localMapsCacheLoadedOnInit_?"true":"false");
ROS_INFO("%s(maps): cloud_output_voxelized = %s", name.c_str(), cloudOutputVoxelized_?"true":"false");
ROS_INFO("%s(maps): cloud_subtract_filtering = %s", name.c_str(), cloudSubtractFiltering_?"true":"false");
ROS_INFO("%s(maps): cloud_subtract_filtering_min_neighbors = %d", name.c_str(), cloudSubtractFilteringMinNeighbors_);
@@ -355,7 +358,9 @@ void MapsManager::set2DMap(
{
occupancyGrid_->setMap(map, xMin, yMin, cellSize, poses);
//update cache in case the map should be updated
if(memory)
if(memory &&
uStrNumCmp(memory->getDatabaseVersion(), "0.11.10")>=0 && // versions 0.11.10+ have local grids saved in db
localMapsCacheLoadedOnInit_)
{
for(std::map<int, rtabmap::Transform>::const_iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
{