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remove trailing whitespace from launch files

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This commit is contained in:
Lucas Walter
2023-01-15 07:00:31 -08:00
parent a42f00191a
commit cec01bc0c8
87 changed files with 1024 additions and 1024 deletions
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launch/jfr2018/slam_gmapping.patch
+9 -9
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@@ -7,7 +7,7 @@ index bd9977c..b4f9382 100644
#include "ros/console.h"
#include "nav_msgs/MapMetaData.h"
+#include <nav_msgs/Path.h>
#include "gmapping/sensor/sensor_range/rangesensor.h"
#include "gmapping/sensor/sensor_odometry/odometrysensor.h"
@@ -258,6 +259,7 @@ void SlamGMapping::startLiveSlam()
@@ -24,12 +24,12 @@ index bd9977c..b4f9382 100644
sstm_ = node_.advertise<nav_msgs::MapMetaData>("map_metadata", 1, true);
+ pathPub_ = node_.advertise<nav_msgs::Path>("map_path", 1, true);
ss_ = node_.advertiseService("dynamic_map", &SlamGMapping::mapCallback, this);
rosbag::Bag bag;
@@ -410,6 +413,18 @@ SlamGMapping::initMapper(const sensor_msgs::LaserScan& scan)
return false;
}
+ try
+ {
+ tf_.lookupTransform(laser_frame_, base_frame_, scan.header.stamp, scan_to_base_);
@@ -47,7 +47,7 @@ index bd9977c..b4f9382 100644
v.setValue(0, 0, 1 + laser_pose.getOrigin().z());
@@ -617,6 +632,8 @@ SlamGMapping::laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
ROS_DEBUG("scan processed");
GMapping::OrientedPoint mpose = gsp_->getParticles()[gsp_->getBestParticleIndex()].pose;
+ GMapping::GridSlamProcessor::TNode * node = gsp_->getParticles()[gsp_->getBestParticleIndex()].node;
+
@@ -56,7 +56,7 @@ index bd9977c..b4f9382 100644
ROS_DEBUG("correction: %.3f %.3f %.3f", mpose.x - odom_pose.x, mpose.y - odom_pose.y, mpose.theta - odom_pose.theta);
@@ -699,6 +716,23 @@ SlamGMapping::updateMap(const sensor_msgs::LaserScan& scan)
delta_);
ROS_DEBUG("Trajectory tree:");
+ nav_msgs::Path path;
+ int count = 0;
@@ -95,15 +95,15 @@ index bd9977c..b4f9382 100644
@@ -764,8 +805,11 @@ SlamGMapping::updateMap(const sensor_msgs::LaserScan& scan)
map_.map.header.stamp = ros::Time::now();
map_.map.header.frame_id = tf_.resolve( map_frame_ );
+ path.header = map_.map.header;
+
sst_.publish(map_.map);
sstm_.publish(map_.map.info);
+ pathPub_.publish(path);
}
bool
bool
diff --git a/gmapping/src/slam_gmapping.h b/gmapping/src/slam_gmapping.h
index ae622b9..8d84645 100644
--- a/gmapping/src/slam_gmapping.h
@@ -119,7 +119,7 @@ index ae622b9..8d84645 100644
@@ -92,6 +93,8 @@ class SlamGMapping
std::string map_frame_;
std::string odom_frame_;
+ tf::StampedTransform scan_to_base_;
+
void updateMap(const sensor_msgs::LaserScan& scan);