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Fixed odom args ignored, fixed octomap_full output with right conversion

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This commit is contained in:
matlabbe
2016-07-17 15:39:08 -04:00
parent 20e836b56b
commit d1e656bb64
5 changed files with 8 additions and 4 deletions
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launch/rtabmap.launch
+1 -1
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@@ -101,7 +101,7 @@
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
src/MapsManager.cpp
+1 -1
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@@ -872,7 +872,7 @@ void MapsManager::publishMaps(
if(octoMapPubFull_.getNumSubscribers())
{
octomap_msgs::Octomap msg;
octomap_msgs::binaryMapToMsg(*octomap_->octree(), msg);
octomap_msgs::fullMapToMsg(*octomap_->octree(), msg);
msg.header.frame_id = mapFrameId;
msg.header.stamp = stamp;
octoMapPubFull_.publish(msg);
src/RGBDOdometryNode.cpp
+2 -1
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@@ -37,6 +37,7 @@ int main(int argc, char **argv)
ros::init(argc, argv, "rgbd_odometry");
// process "--params" argument
nodelet::V_string nargv;
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0)
@@ -65,11 +66,11 @@ int main(int argc, char **argv)
{
ULogger::setLevel(ULogger::kInfo);
}
nargv.push_back(argv[i]);
}
nodelet::Loader nodelet;
nodelet::M_string remap(ros::names::getRemappings());
nodelet::V_string nargv;
std::string nodelet_name = ros::this_node::getName();
nodelet.load(nodelet_name, "rtabmap_ros/rgbd_odometry", remap, nargv);
ros::spin();
src/StereoOdometryNode.cpp
+3 -1
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@@ -37,6 +37,7 @@ int main(int argc, char **argv)
ros::init(argc, argv, "stereo_odometry");
// process "--params" argument
nodelet::V_string nargv;
for(int i=1;i<argc;++i)
{
if(strcmp(argv[i], "--params") == 0)
@@ -65,11 +66,12 @@ int main(int argc, char **argv)
{
ULogger::setLevel(ULogger::kInfo);
}
nargv.push_back(argv[i]);
}
nodelet::Loader nodelet;
nodelet::M_string remap(ros::names::getRemappings());
nodelet::V_string nargv;
std::string nodelet_name = ros::this_node::getName();
nodelet.load(nodelet_name, "rtabmap_ros/stereo_odometry", remap, nargv);
ros::spin();
src/nodelets/OdometryROS.cpp
+1
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@@ -222,6 +222,7 @@ void OdometryROS::onInit()
{
argv[i] = &argList[i].at(0);
}
rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{