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rtabmap: added log info on subscription parameters

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matlabbe
2019-04-30 12:15:57 -04:00
parent b4334bb832
commit e3abe460ee
1 changed files with 8 additions and 1 deletions
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src/CommonDataSubscriber.cpp
+8 -1
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@@ -369,8 +369,15 @@ void CommonDataSubscriber::setupCallbacks(
rgbdCameras = 1; rgbdCameras = 1;
} }
ROS_INFO("%s: subscribe_depth = %s", name.c_str(), subscribedToDepth_?"true":"false");
ROS_INFO("%s: subscribe_rgb = %s", name.c_str(), subscribedToRGB_?"true":"false");
ROS_INFO("%s: subscribe_stereo = %s", name.c_str(), subscribedToStereo_?"true":"false");
ROS_INFO("%s: subscribe_rgbd = %s (rgbd_cameras=%d)", name.c_str(), subscribedToRGBD_?"true":"false", rgbdCameras);
ROS_INFO("%s: subscribe_odom_info = %s", name.c_str(), subscribeOdomInfo?"true":"false");
ROS_INFO("%s: subscribe_user_data = %s", name.c_str(), subscribeUserData?"true":"false");
ROS_INFO("%s: subscribe_scan = %s", name.c_str(), subscribeScan2d?"true":"false");
ROS_INFO("%s: subscribe_scan_cloud = %s", name.c_str(), subscribeScan3d?"true":"false");
ROS_INFO("%s: queue_size = %d", name.c_str(), queueSize_); ROS_INFO("%s: queue_size = %d", name.c_str(), queueSize_);
ROS_INFO("%s: rgbd_cameras = %d", name.c_str(), rgbdCameras);
ROS_INFO("%s: approx_sync = %s", name.c_str(), approxSync_?"true":"false"); ROS_INFO("%s: approx_sync = %s", name.c_str(), approxSync_?"true":"false");
subscribedToOdom_ = odomFrameId.empty() && subscribeOdom; subscribedToOdom_ = odomFrameId.empty() && subscribeOdom;