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Use trajectory ID as namespace for trajectory marker (#473) 

Also simplifies marker IDs since they must only be unique within a unique namespace.
master
Juraj Oršulić 2017-08-07 15:59:41 +02:00 committed by Damon Kohler
parent ab1ca30353
commit 7f616b4cc7
1 changed files with 3 additions and 3 deletions
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6
cartographer_ros/cartographer_ros/map_builder_bridge.cc
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@ -169,13 +169,13 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetTrajectoryNodeList() {
visualization_msgs::MarkerArray trajectory_node_list;
const auto all_trajectory_nodes =
map_builder_.sparse_pose_graph()->GetTrajectoryNodes();
int marker_id = 0;
for (int trajectory_id = 0;
trajectory_id < static_cast<int>(all_trajectory_nodes.size());
++trajectory_id) {
const auto& single_trajectory_nodes = all_trajectory_nodes[trajectory_id];
visualization_msgs::Marker marker;
marker.id = marker_id++;
marker.ns = "Trajectory " + std::to_string(trajectory_id);
marker.id = 0;
marker.type = visualization_msgs::Marker::LINE_STRIP;
marker.header.stamp = ::ros::Time::now();
marker.header.frame_id = node_options_.map_frame;
@ -198,7 +198,7 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetTrajectoryNodeList() {
// trajectory into multiple markers.
if (marker.points.size() == 16384) {
trajectory_node_list.markers.push_back(marker);
marker.id = marker_id++;
++marker.id;
marker.points.clear();
// Push back the last point, so the two markers appear connected.
marker.points.push_back(node_point);