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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_karto.patch
+18 -18
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@@ -8,19 +8,19 @@ index 712a9ca..0c0d885 100644
void publishLoop(double transform_publish_period);
- void publishGraphVisualization();
+ void publishGraphVisualization(const ros::Time & stamp);
// ROS handles
ros::NodeHandle node_;
@@ -435,16 +435,22 @@ SlamKarto::getOdomPose(karto::Pose2& karto_pose, const ros::Time& t)
}
void
-SlamKarto::publishGraphVisualization()
+SlamKarto::publishGraphVisualization(const ros::Time & stamp)
{
std::vector<float> graph;
solver_->getGraph(graph);
+ std::vector<karto::LocalizedRangeScan*> scans = mapper_->GetAllProcessedScans();
+
+ if(scans.empty())
@@ -28,7 +28,7 @@ index 712a9ca..0c0d885 100644
+ return;
+ }
visualization_msgs::MarkerArray marray;
visualization_msgs::Marker m;
m.header.frame_id = "map";
- m.header.stamp = ros::Time::now();
@@ -37,7 +37,7 @@ index 712a9ca..0c0d885 100644
m.ns = "karto";
m.type = visualization_msgs::Marker::SPHERE;
@@ -462,7 +468,7 @@ SlamKarto::publishGraphVisualization()
visualization_msgs::Marker edge;
edge.header.frame_id = "map";
- edge.header.stamp = ros::Time::now();
@@ -46,10 +46,10 @@ index 712a9ca..0c0d885 100644
edge.ns = "karto";
edge.id = 0;
@@ -477,14 +483,14 @@ SlamKarto::publishGraphVisualization()
m.action = visualization_msgs::Marker::ADD;
uint id = 0;
- for (uint i=0; i<graph.size()/2; i++)
- for (uint i=0; i<graph.size()/2; i++)
+ for (uint i=0; i<scans.size(); i++)
{
m.id = id;
@@ -65,7 +65,7 @@ index 712a9ca..0c0d885 100644
{
edge.points.clear();
@@ -500,15 +506,15 @@ SlamKarto::publishGraphVisualization()
marray.markers.push_back(visualization_msgs::Marker(edge));
id++;
- }
@@ -74,40 +74,40 @@ index 712a9ca..0c0d885 100644
-
+/*
m.action = visualization_msgs::Marker::DELETE;
for (; id < marker_count_; id++)
for (; id < marker_count_; id++)
{
m.id = id;
marray.markers.push_back(visualization_msgs::Marker(m));
- }
+ }*/
marker_count_ = marray.markers.size();
@@ -537,12 +543,14 @@ SlamKarto::laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
karto::Pose2 odom_pose;
if(addScan(laser, scan, odom_pose))
{
- ROS_DEBUG("added scan at pose: %.3f %.3f %.3f",
+ ROS_INFO("added scan at pose: %.3f %.3f %.3f",
- ROS_DEBUG("added scan at pose: %.3f %.3f %.3f",
+ ROS_INFO("added scan at pose: %.3f %.3f %.3f",
odom_pose.GetX(),
odom_pose.GetY(),
odom_pose.GetHeading());
- publishGraphVisualization();
+ publishGraphVisualization(scan->header.stamp);
+
+ ROS_INFO("published markers");
if(!got_map_ ||
if(!got_map_ ||
(scan->header.stamp - last_map_update) > map_update_interval_)
diff --git a/src/spa_solver.cpp b/src/spa_solver.cpp
index 5d9a962..6a65211 100644
--- a/src/spa_solver.cpp
+++ b/src/spa_solver.cpp
@@ -46,9 +46,9 @@ void SpaSolver::Compute()
typedef std::vector<sba::Node2d, Eigen::aligned_allocator<sba::Node2d> > NodeVector;
- ROS_INFO("Calling doSPA for loop closure");
+ //ROS_INFO("Calling doSPA for loop closure");
m_Spa.doSPA(40);