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rtabmap-pkg:CoreWrapper... updated rtabmap init interface

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@732 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-13 20:01:09 +00:00
parent bcf46d8916
commit eec6f5241e
1 changed files with 3 additions and 3 deletions
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rtabmap/src/CoreWrapper.cpp
+3 -3
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@@ -34,11 +34,11 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
infoPubEx_ = nh.advertise<rtabmap::InfoEx>("infoEx", 1); infoPubEx_ = nh.advertise<rtabmap::InfoEx>("infoEx", 1);
parametersLoadedPub_ = nh.advertise<std_msgs::Empty>("parameters_loaded", 1); parametersLoadedPub_ = nh.advertise<std_msgs::Empty>("parameters_loaded", 1);
rtabmap_ = new Rtabmap(Parameters::defaultRtabmapWorkingDirectory(), deleteDbOnStart); rtabmap_ = new Rtabmap();
UEventsManager::addHandler(rtabmap_); UEventsManager::addHandler(rtabmap_);
loadNodeParameters(UDirectory::homeDir()+"/.rtabmap/rtabmap.ini"); loadNodeParameters(UDirectory::homeDir()+"/.rtabmap/rtabmap.ini");
rtabmap_->init(); rtabmap_->init(UDirectory::homeDir()+"/.rtabmap/rtabmap.ini", deleteDbOnStart);
resetMemorySrv_ = nh.advertiseService("resetMemory", &CoreWrapper::resetMemoryCallback, this); resetMemorySrv_ = nh.advertiseService("resetMemory", &CoreWrapper::resetMemoryCallback, this);
dumpMemorySrv_ = nh.advertiseService("dumpMemory", &CoreWrapper::dumpMemoryCallback, this); dumpMemorySrv_ = nh.advertiseService("dumpMemory", &CoreWrapper::dumpMemoryCallback, this);
@@ -70,7 +70,7 @@ void CoreWrapper::loadNodeParameters(const std::string & configFile)
ROS_INFO("Loading parameters from %s", configFile.c_str()); ROS_INFO("Loading parameters from %s", configFile.c_str());
if(!UFile::exists(configFile.c_str())) if(!UFile::exists(configFile.c_str()))
{ {
ROS_WARN("Config file doesn't exist!"); ROS_WARN("Config file doesn't exist! It will be generated...");
} }
ParametersMap parameters = Parameters::getDefaultParameters(); ParametersMap parameters = Parameters::getDefaultParameters();