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Fixed timestamp conversion. Srv: changed "global" member to "global_map" (python reserved word). CoreWrapper: fixed imu subscription.

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This commit is contained in:
matlabbe
2021-10-05 13:53:13 -04:00
parent 801fcade72
commit fb1200c8f1
11 changed files with 24 additions and 22 deletions
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src/CoreWrapper.cpp
+7 -7
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@@ -784,7 +784,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
#ifdef WITH_APRILTAG_MSGS
tagDetectionsSub_ = this->create_subscription<apriltag_ros::msg::AprilTagDetectionArray>("tag_detections", 5, std::bind(&CoreWrapper::tagDetectionsAsyncCallback, this, std::placeholders::_1));
#endif
imuSub_ = this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>("imu", 100, std::bind(&CoreWrapper::imuAsyncCallback, this, std::placeholders::_1));
imuSub_ = this->create_subscription<sensor_msgs::msg::Imu>("imu", 100, std::bind(&CoreWrapper::imuAsyncCallback, this, std::placeholders::_1));
republishNodeDataSub_ = this->create_subscription<std_msgs::msg::Int32MultiArray>("republish_node_data", 5, std::bind(&CoreWrapper::republishNodeDataCallback, this, std::placeholders::_1));
parametersClient_ = std::make_shared<rclcpp::SyncParametersClient>(this);
@@ -875,7 +875,7 @@ void CoreWrapper::saveParameters(const std::string & configFile)
}
else
{
RCLCPP_INFO(this->get_logger(), "Parameters are not saved! (No configuration file provided...)");
RCLCPP_INFO(this->get_logger(), "Parameters are not saved (No configuration file provided...)");
}
}
@@ -3306,7 +3306,7 @@ void CoreWrapper::getMapDataCallback(
std::shared_ptr<rtabmap_ros::srv::GetMap::Response> res)
{
RCLCPP_INFO(this->get_logger(), "rtabmap: Getting map (global=%s optimized=%s graphOnly=%s)...",
req->global?"true":"false",
req->global_map?"true":"false",
req->optimized?"true":"false",
req->graph_only?"true":"false");
std::map<int, Signature> signatures;
@@ -3317,7 +3317,7 @@ void CoreWrapper::getMapDataCallback(
poses,
constraints,
req->optimized,
req->global,
req->global_map,
&signatures,
!req->graph_only,
!req->graph_only,
@@ -3341,7 +3341,7 @@ void CoreWrapper::getMapData2Callback(
std::shared_ptr<rtabmap_ros::srv::GetMap2::Response> res)
{
RCLCPP_INFO(get_logger(), "rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s)...",
req->global?"true":"false",
req->global_map?"true":"false",
req->optimized?"true":"false",
req->with_images?"true":"false",
req->with_scans?"true":"false",
@@ -3355,7 +3355,7 @@ void CoreWrapper::getMapData2Callback(
poses,
constraints,
req->optimized,
req->global,
req->global_map,
&signatures,
req->with_images,
req->with_scans,
@@ -3480,7 +3480,7 @@ void CoreWrapper::publishMapCallback(
poses,
constraints,
req->optimized,
req->global,
req->global_map,
&signatures,
!req->graph_only,
!req->graph_only,