From f07e4f0a718262db9fa66449f260c1cd761d0286 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 28 Apr 2024 17:33:26 -0700
Subject: [PATCH] Fixed python interpretor not loaded for odometry nodes

---
 rtabmap_odom/src/RGBDICPOdometryNode.cpp | 7 +++++++
 rtabmap_odom/src/RGBDOdometryNode.cpp    | 7 +++++++
 rtabmap_odom/src/StereoOdometryNode.cpp  | 7 +++++++
 3 files changed, 21 insertions(+)

diff --git a/rtabmap_odom/src/RGBDICPOdometryNode.cpp b/rtabmap_odom/src/RGBDICPOdometryNode.cpp
index dfc0a5e8..e86c8139 100644
--- a/rtabmap_odom/src/RGBDICPOdometryNode.cpp
+++ b/rtabmap_odom/src/RGBDICPOdometryNode.cpp
@@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "nodelet/loader.h"
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/core/Parameters.h>
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
 
 int main(int argc, char **argv)
 {
@@ -69,6 +72,10 @@ int main(int argc, char **argv)
 		nargv.push_back(argv[i]);
 	}
 
+#ifdef RTABMAP_PYTHON
+	rtabmap::PythonInterface pythonInterface;
+#endif
+
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
 	std::string nodelet_name = ros::this_node::getName();
diff --git a/rtabmap_odom/src/RGBDOdometryNode.cpp b/rtabmap_odom/src/RGBDOdometryNode.cpp
index a3d75b1a..b3d9462e 100644
--- a/rtabmap_odom/src/RGBDOdometryNode.cpp
+++ b/rtabmap_odom/src/RGBDOdometryNode.cpp
@@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "nodelet/loader.h"
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/core/Parameters.h>
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
 
 int main(int argc, char **argv)
 {
@@ -69,6 +72,10 @@ int main(int argc, char **argv)
 		nargv.push_back(argv[i]);
 	}
 
+#ifdef RTABMAP_PYTHON
+	rtabmap::PythonInterface pythonInterface;
+#endif
+
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
 	std::string nodelet_name = ros::this_node::getName();
diff --git a/rtabmap_odom/src/StereoOdometryNode.cpp b/rtabmap_odom/src/StereoOdometryNode.cpp
index 48f14a90..8d6fc219 100644
--- a/rtabmap_odom/src/StereoOdometryNode.cpp
+++ b/rtabmap_odom/src/StereoOdometryNode.cpp
@@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "nodelet/loader.h"
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/core/Parameters.h>
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
 
 int main(int argc, char **argv)
 {
@@ -70,6 +73,10 @@ int main(int argc, char **argv)
 
 	}
 
+#ifdef RTABMAP_PYTHON
+	rtabmap::PythonInterface pythonInterface;
+#endif
+
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
 	std::string nodelet_name = ros::this_node::getName();