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data_player: rate is now a ratio of the database stamps

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matlabbe
2018-10-24 09:27:42 +12:00
parent 575af5c5a1
commit f64152b6dc
1 changed files with 3 additions and 3 deletions
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src/DbPlayerNode.cpp
+3 -3
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@@ -105,7 +105,7 @@ int main(int argc, char** argv)
std::string odomFrameId = "odom"; std::string odomFrameId = "odom";
std::string cameraFrameId = "camera_optical_link"; std::string cameraFrameId = "camera_optical_link";
std::string scanFrameId = "base_laser_link"; std::string scanFrameId = "base_laser_link";
double rate = -1.0f; double rate = 1.0f;
std::string databasePath = ""; std::string databasePath = "";
bool publishTf = true; bool publishTf = true;
int startId = 0; int startId = 0;
@@ -115,7 +115,7 @@ int main(int argc, char** argv)
pnh.param("odom_frame_id", odomFrameId, odomFrameId); pnh.param("odom_frame_id", odomFrameId, odomFrameId);
pnh.param("camera_frame_id", cameraFrameId, cameraFrameId); pnh.param("camera_frame_id", cameraFrameId, cameraFrameId);
pnh.param("scan_frame_id", scanFrameId, scanFrameId); pnh.param("scan_frame_id", scanFrameId, scanFrameId);
pnh.param("rate", rate, rate); // Set -1 to use database stamps pnh.param("rate", rate, rate); // Ratio of the database stamps
pnh.param("database", databasePath, databasePath); pnh.param("database", databasePath, databasePath);
pnh.param("publish_tf", publishTf, publishTf); pnh.param("publish_tf", publishTf, publishTf);
pnh.param("start_id", startId, startId); pnh.param("start_id", startId, startId);
@@ -149,7 +149,7 @@ int main(int argc, char** argv)
} }
ROS_INFO("database = %s", databasePath.c_str()); ROS_INFO("database = %s", databasePath.c_str());
rtabmap::DBReader reader(databasePath, rate, false, false, false, startId); rtabmap::DBReader reader(databasePath, -rate, false, false, false, startId);
if(!reader.init()) if(!reader.init())
{ {
ROS_ERROR("Cannot open database \"%s\".", databasePath.c_str()); ROS_ERROR("Cannot open database \"%s\".", databasePath.c_str());