i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed build with RTAB-Map 0.21.8 (and grid_map_core dep)

Browse Source
This commit is contained in:
matlabbe
2024-10-08 20:03:14 -07:00
parent 7819fd4790
commit e76cbed924
1 changed files with 4 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_util/src/MapsManager.cpp
+4
View File
@@ -1362,7 +1362,11 @@ void MapsManager::publishMaps(
(elevationMapPub_->get_subscription_count() && !latched_.at(&elevationMapPub_)))
{
grid_map_msgs::msg::GridMap::UniquePtr msg;
#if RTABMAP_VERSION_MAJOR>0 || (RTABMAP_VERSION_MAJOR==0 && RTABMAP_VERSION_MINOR>21) || (RTABMAP_VERSION_MAJOR==0 && RTABMAP_VERSION_MINOR==21 && RTABMAP_VERSION_MINOR>=8)
msg = grid_map::GridMapRosConverter::toMessage(*elevationMap_->gridMap());
#else
msg = grid_map::GridMapRosConverter::toMessage(elevationMap_->gridMap());
#endif
msg->header.frame_id = mapFrameId;
msg->header.stamp = stamp;
elevationMapPub_->publish(std::move(msg));