i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 17:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed MapsManager's topics not remapped when using rtabmap nodelet

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/CommonDataSubscriber.cpp
+6 -5
View File
@@ -123,13 +123,14 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
{
}
void CommonDataSubscriber::setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle & pnh)
void CommonDataSubscriber::setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle & pnh, const std::string & name)
{
bool subscribeScan2d = false;
bool subscribeScan3d = false;
bool subscribeOdomInfo = false;
bool subscribeUserData = false;
int rgbdCameras = 1;
name_ = name;
// ROS related parameters (private)
pnh.param("subscribe_depth", subscribedToDepth_, subscribedToDepth_);
@@ -201,9 +202,9 @@ void CommonDataSubscriber::setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle
rgbdCameras = 1;
}
ROS_INFO("%s: queue_size = %d", ros::this_node::getName().c_str(), queueSize_);
ROS_INFO("%s: rgbd_cameras = %d", ros::this_node::getName().c_str(), rgbdCameras);
ROS_INFO("%s: approx_sync = %s", ros::this_node::getName().c_str(), approxSync_?"true":"false");
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");
bool subscribeOdom = odomFrameId.empty();
if(subscribedToDepth_)
@@ -372,7 +373,7 @@ void CommonDataSubscriber::warningLoop()
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
"header are set. If topics are coming from different computers, make sure "
"the clocks of the computers are synchronized (\"ntpdate\"). %s%s",
ros::this_node::getName().c_str(),
name_.c_str(),
approxSync_?
uFormat("If topics are not published at the same rate, you could increase \"queue_size\" parameter (current=%d).", queueSize_).c_str():
"Parameter \"approx_sync\" is false, which means that input topics should have all the exact timestamp for the callback to be called.",