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Follow googlecartographer/cartographer#591. (#542)

master
Wolfgang Hess 2017-10-17 11:00:31 +02:00 committed by GitHub
parent fe28d33d38
commit 38f1c4dc14
1 changed files with 2 additions and 2 deletions
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cartographer_ros/cartographer_ros/map_builder_bridge.cc
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@ -199,7 +199,7 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetTrajectoryNodeList() {
continue; continue;
} }
const ::geometry_msgs::Point node_point = const ::geometry_msgs::Point node_point =
ToGeometryMsgPoint(node.pose.translation()); ToGeometryMsgPoint(node.global_pose.translation());
marker.points.push_back(node_point); marker.points.push_back(node_point);
// Work around the 16384 point limit in RViz by splitting the // Work around the 16384 point limit in RViz by splitting the
// trajectory into multiple markers. // trajectory into multiple markers.
@ -290,7 +290,7 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetConstraintList() {
const auto& trajectory_node_pose = const auto& trajectory_node_pose =
all_trajectory_nodes[constraint.node_id.trajectory_id] all_trajectory_nodes[constraint.node_id.trajectory_id]
[constraint.node_id.node_index] [constraint.node_id.node_index]
.pose; .global_pose;
const cartographer::transform::Rigid3d constraint_pose = const cartographer::transform::Rigid3d constraint_pose =
submap_pose * constraint.pose.zbar_ij; submap_pose * constraint.pose.zbar_ij;