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fixed #279

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matlabbe
2018-10-17 11:43:38 -04:00
parent e9380ebf45
commit ead97cd1ad
3 changed files with 12 additions and 4 deletions
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src/CoreWrapper.cpp
+6 -2
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@@ -93,7 +93,6 @@ CoreWrapper::CoreWrapper() :
groundTruthFrameId_(""), // e.g., "world"
groundTruthBaseFrameId_(""), // e.g., "base_link_gt"
configPath_(""),
databasePath_(UDirectory::homeDir()+"/.ros/"+rtabmap::Parameters::getDefaultDatabaseName()),
odomDefaultAngVariance_(1.0),
odomDefaultLinVariance_(1.0),
waitForTransform_(true),
@@ -117,6 +116,9 @@ CoreWrapper::CoreWrapper() :
previousStamp_(0),
mbClient_(0)
{
char * rosHomePath = getenv("ROS_HOME");
std::string workingDir = rosHomePath?rosHomePath:UDirectory::homeDir()+"/.ros";
databasePath_ = workingDir+"/"+rtabmap::Parameters::getDefaultDatabaseName();
globalPose_.header.stamp = ros::Time(0);
}
@@ -237,7 +239,9 @@ void CoreWrapper::onInit()
ParametersMap allParameters = Parameters::getDefaultParameters();
uInsert(allParameters, ParametersPair(Parameters::kRGBDCreateOccupancyGrid(), "true")); // default true in ROS
uInsert(allParameters, ParametersPair(Parameters::kRtabmapWorkingDirectory(), UDirectory::homeDir()+"/.ros")); // change default to ~/.ros
char * rosHomePath = getenv("ROS_HOME");
std::string workingDir = rosHomePath?rosHomePath:UDirectory::homeDir()+"/.ros";
uInsert(allParameters, ParametersPair(Parameters::kRtabmapWorkingDirectory(), workingDir)); // change default to ~/.ros
// load parameters
loadParameters(configPath_, parameters_);