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Publish one last progress message when PlayableBag is finished. (#1160) 

Without this, it might look like the processing hangs.
master
Michael Grupp 2019-01-18 13:10:40 +01:00 committed by Wally B. Feed
parent 68f60ff763
commit 63eaf6d257
2 changed files with 10 additions and 3 deletions
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11
cartographer_ros/cartographer_ros/playable_bag.cc
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@ -140,10 +140,15 @@ PlayableBagMultiplexer::GetNextMessage() {
PlayableBag& current_bag = playable_bags_.at(current_bag_index);
cartographer_ros_msgs::BagfileProgress progress;
rosbag::MessageInstance msg = current_bag.GetNextMessage(&progress);
if (ros::Time::now() - bag_progress_time_map_[current_bag.bag_id()] >=
ros::Duration(progress_pub_interval_) &&
bag_progress_pub_.getNumSubscribers() > 0) {
const bool publish_progress =
current_bag.finished() ||
ros::Time::now() - bag_progress_time_map_[current_bag.bag_id()] >=
ros::Duration(progress_pub_interval_);
if (bag_progress_pub_.getNumSubscribers() > 0 && publish_progress) {
progress.total_bagfiles = playable_bags_.size();
if (current_bag.finished()) {
progress.processed_seconds = current_bag.duration_in_seconds();
}
bag_progress_pub_.publish(progress);
bag_progress_time_map_[current_bag.bag_id()] = ros::Time::now();
}

2
cartographer_ros/cartographer_ros/playable_bag.h
View File

@ -47,6 +47,8 @@ class PlayableBag {
int bag_id() const;
std::set<std::string> topics() const { return topics_; }
double duration_in_seconds() const { return duration_in_seconds_; }
bool finished() const { return finished_; }
private:
void AdvanceOneMessage();