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icp_odometry: fixed plugin unloading warning on exit

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This commit is contained in:
matlabbe
2019-12-11 16:03:50 -05:00
parent 6d49e7196a
commit f242e1879b
1 changed files with 20 additions and 16 deletions
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src/nodelets/icp_odometry.cpp
+20 -16
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@@ -73,6 +73,7 @@ public:
virtual ~ICPOdometry() virtual ~ICPOdometry()
{ {
plugins_.clear();
} }
private: private:
@@ -103,6 +104,13 @@ private:
boost::shared_ptr<rtabmap_ros::PluginInterface> plugin = plugin_loader_.createInstance(type); boost::shared_ptr<rtabmap_ros::PluginInterface> plugin = plugin_loader_.createInstance(type);
plugins_.push_back(plugin); plugins_.push_back(plugin);
plugin->initialize(pluginName, pnh); plugin->initialize(pluginName, pnh);
if(!plugin->isEnabled())
{
NODELET_WARN("Plugin: %s is not enabled, filtering will not occur. \"enabled_\" member "
"should be managed in subclasses. This can be ignored if the "
"plugin should really be initialized as disabled.",
plugin->getName().c_str());
}
} }
catch(pluginlib::PluginlibException & ex) { catch(pluginlib::PluginlibException & ex) {
ROS_ERROR("Failed to load plugin %s. Error: %s", pluginName.c_str(), ex.what()); ROS_ERROR("Failed to load plugin %s. Error: %s", pluginName.c_str(), ex.what());
@@ -347,29 +355,25 @@ private:
if (plugins_[0]->isEnabled()) if (plugins_[0]->isEnabled())
{ {
cloudMsg = plugins_[0]->filterPointCloud(*pointCloudMsg); cloudMsg = plugins_[0]->filterPointCloud(*pointCloudMsg);
} else }
{ else
NODELET_WARN("Plugin: %s is not enabled, filtering will not occur." {
" Make sure to set enabled_ to true once initialization is done.", cloudMsg = *pointCloudMsg;
plugins_[0]->getName().c_str()); }
cloudMsg = *pointCloudMsg;
}
if (plugins_.size() > 1) if (plugins_.size() > 1)
{ {
for (int i = 1; i < plugins_.size(); i++) { for (int i = 1; i < plugins_.size(); i++) {
if (plugins_[i]->isEnabled()) if (plugins_[i]->isEnabled()) {
cloudMsg = plugins_[i]->filterPointCloud(cloudMsg); cloudMsg = plugins_[i]->filterPointCloud(cloudMsg);
else }
NODELET_WARN("Plugin: %s is not enabled, filtering will not occur."
" Make sure to set enabled_ to true once initialization is done.",
plugins_[i]->getName().c_str());
} }
} }
} else }
{ else
cloudMsg = *pointCloudMsg; {
} cloudMsg = *pointCloudMsg;
}
cv::Mat scan; cv::Mat scan;
bool containNormals = false; bool containNormals = false;