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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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src/CoreWrapper.cpp
+5 -4
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@@ -101,7 +101,6 @@ CoreWrapper::CoreWrapper() :
scanCloudMaxPoints_(0),
scanCloudNormalK_(0),
mapToOdom_(rtabmap::Transform::getIdentity()),
mapsManager_(true),
transformThread_(0),
tfThreadRunning_(false),
stereoToDepth_(false),
@@ -119,6 +118,8 @@ void CoreWrapper::onInit()
ros::NodeHandle & nh = getNodeHandle();
ros::NodeHandle & pnh = getPrivateNodeHandle();
mapsManager_.init(nh, pnh, getName(), true);
bool publishTf = true;
double tfDelay = 0.05; // 20 Hz
double tfTolerance = 0.1; // 100 ms
@@ -331,7 +332,7 @@ void CoreWrapper::onInit()
}
// Backward compatibility (MapsManager)
mapsManager_.backwardCompatibilityParameters(parameters_);
mapsManager_.backwardCompatibilityParameters(pnh, parameters_);
bool subscribeScan2d = false;
bool subscribeScan3d = false;
@@ -448,7 +449,7 @@ void CoreWrapper::onInit()
Parameters::kOptimizerIterations().c_str(), mapFrameId_.c_str());
}
setupCallbacks(nh, pnh); // do it at the end
setupCallbacks(nh, pnh, getName()); // do it at the end
if(!this->isDataSubscribed())
{
bool isRGBD = uStr2Bool(parameters_.at(Parameters::kRGBDEnabled()).c_str());
@@ -466,7 +467,7 @@ void CoreWrapper::onInit()
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
defaultSub_ = rgb_it.subscribe("image", 1, &CoreWrapper::defaultCallback, this);
NODELET_INFO("\n%s subscribed to:\n %s", ros::this_node::getName().c_str(), defaultSub_.getTopic().c_str());
NODELET_INFO("\n%s subscribed to:\n %s", getName().c_str(), defaultSub_.getTopic().c_str());
}
}