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fixed MapsManager's topics not remapped when using rtabmap nodelet

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This commit is contained in:
matlabbe
2016-10-18 11:49:56 -04:00
parent 37d805daf2
commit ea859291ed
12 changed files with 58 additions and 48 deletions
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include/rtabmap_ros/CommonDataSubscriber.h
+2 -1
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@@ -69,7 +69,7 @@ public:
int getQueueSize() const {return queueSize_;}
protected:
void setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle & pnh);
void setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::string & name);
virtual void commonDepthCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -154,6 +154,7 @@ private:
bool subscribedToScan2d_;
bool subscribedToScan3d_;
bool subscribedToOdomInfo_;
std::string name_;
//for depth callback
image_transport::SubscriberFilter imageSub_;
include/rtabmap_ros/CommonDataSubscriberDefines.h
+5 -5
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@@ -100,7 +100,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2)); \
} \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s", \
ros::this_node::getName().c_str(), \
name_.c_str(), \
APPROX?"approx":"exact", \
SUB0.getTopic().c_str(), \
SUB1.getTopic().c_str());
@@ -119,7 +119,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3)); \
} \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s", \
ros::this_node::getName().c_str(), \
name_.c_str(), \
APPROX?"approx":"exact", \
SUB0.getTopic().c_str(), \
SUB1.getTopic().c_str(), \
@@ -139,7 +139,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4)); \
} \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s", \
ros::this_node::getName().c_str(), \
name_.c_str(), \
APPROX?"approx":"exact", \
SUB0.getTopic().c_str(), \
SUB1.getTopic().c_str(), \
@@ -160,7 +160,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5)); \
} \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s", \
ros::this_node::getName().c_str(), \
name_.c_str(), \
approxSync?"approx":"exact", \
SUB0.getTopic().c_str(), \
SUB1.getTopic().c_str(), \
@@ -182,7 +182,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
PREFIX##ExactSync_->registerCallback(boost::bind(&CommonDataSubscriber::PREFIX##Callback, this, _1, _2, _3, _4, _5, _6)); \
} \
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s,\n %s,\n %s", \
ros::this_node::getName().c_str(), \
name_.c_str(), \
APPROX?"approx":"exact", \
SUB0.getTopic().c_str(), \
SUB1.getTopic().c_str(), \
include/rtabmap_ros/MapsManager.h
+3 -2
View File
@@ -45,11 +45,12 @@ class OccupancyGrid;
class MapsManager {
public:
MapsManager(bool usePublicNamespace);
MapsManager();
virtual ~MapsManager();
void init(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::string & name, bool usePublicNamespace);
void clear();
bool hasSubscribers() const;
void backwardCompatibilityParameters(rtabmap::ParametersMap & parameters) const;
void backwardCompatibilityParameters(ros::NodeHandle & pnh, rtabmap::ParametersMap & parameters) const;
void setParameters(const rtabmap::ParametersMap & parameters);
std::map<int, rtabmap::Transform> getFilteredPoses(