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Added /rtabmap/initialpose input topic, added use_saved_map parameters (default true).

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matlabbe
2018-04-30 14:52:31 -04:00
parent 6c10d9fecf
commit d1763bd52e
3 changed files with 22 additions and 2 deletions
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src/MapsManager.cpp
+2 -1
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@@ -433,6 +433,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
}
bool longUpdate = false;
UTimer longUpdateTimer;
if(filteredPoses.size() > 20)
{
if(updateGridCache && gridMaps_.size() < 5)
@@ -685,7 +686,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
if(longUpdate)
{
ROS_WARN("Map(s) updated!");
ROS_WARN("Map(s) updated! (%f s)", longUpdateTimer.ticks());
}
}