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Fixes #63 (#64)

master
Damon Kohler 2016-09-19 10:44:29 +02:00 committed by GitHub
parent 1bd2c5fb9a
commit 45d18d53eb
1 changed files with 5 additions and 3 deletions
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8
cartographer_ros/src/cartographer_node_main.cc
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@ -250,7 +250,6 @@ class Node {
tf2_ros::TransformBroadcaster tf_broadcaster_; tf2_ros::TransformBroadcaster tf_broadcaster_;
::ros::Publisher occupancy_grid_publisher_; ::ros::Publisher occupancy_grid_publisher_;
carto::mapping_2d::proto::SubmapsOptions submaps_options_;
std::thread occupancy_grid_thread_; std::thread occupancy_grid_thread_;
bool terminating_ = false GUARDED_BY(mutex_); bool terminating_ = false GUARDED_BY(mutex_);
@ -611,12 +610,15 @@ void Node::SpinOccupancyGridThreadForever() {
std::this_thread::sleep_for(carto::common::FromMilliseconds(1000)); std::this_thread::sleep_for(carto::common::FromMilliseconds(1000));
continue; continue;
} }
const auto& submaps_options =
options_.map_builder_options.trajectory_builder_2d_options()
.submaps_options();
const carto::mapping_2d::MapLimits map_limits = const carto::mapping_2d::MapLimits map_limits =
carto::mapping_2d::MapLimits::ComputeMapLimits( carto::mapping_2d::MapLimits::ComputeMapLimits(
submaps_options_.resolution(), trajectory_nodes); submaps_options.resolution(), trajectory_nodes);
carto::mapping_2d::ProbabilityGrid probability_grid(map_limits); carto::mapping_2d::ProbabilityGrid probability_grid(map_limits);
carto::mapping_2d::LaserFanInserter laser_fan_inserter( carto::mapping_2d::LaserFanInserter laser_fan_inserter(
submaps_options_.laser_fan_inserter_options()); submaps_options.laser_fan_inserter_options());
for (const auto& node : trajectory_nodes) { for (const auto& node : trajectory_nodes) {
CHECK(node.constant_data->laser_fan_3d.returns.empty()); // No 3D yet. CHECK(node.constant_data->laser_fan_3d.returns.empty()); // No 3D yet.
laser_fan_inserter.Insert( laser_fan_inserter.Insert(