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Do not forget to finish trajectory if last message is not from a sensor topic (#681) 

Bug introduced in #636.
master
Juraj Oršulić 2018-01-25 16:13:38 +01:00 committed by Wally B. Feed
parent 8d8a86790a
commit 7fc931688c
1 changed files with 26 additions and 28 deletions
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54
cartographer_ros/cartographer_ros/offline_node.cc
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@ -274,34 +274,32 @@ void RunOfflineNode(const MapBuilderFactory& map_builder_factory) {
} }
const std::string topic = const std::string topic =
node.node_handle()->resolveName(msg.getTopic(), false /* resolve */); node.node_handle()->resolveName(msg.getTopic(), false /* resolve */);
if (bag_sensor_topics.at(bag_index).count(topic) == 0) { if (bag_sensor_topics.at(bag_index).count(topic) > 0) {
continue; if (msg.isType<sensor_msgs::LaserScan>()) {
} node.HandleLaserScanMessage(trajectory_id, topic,
msg.instantiate<sensor_msgs::LaserScan>());
if (msg.isType<sensor_msgs::LaserScan>()) { }
node.HandleLaserScanMessage(trajectory_id, topic, if (msg.isType<sensor_msgs::MultiEchoLaserScan>()) {
msg.instantiate<sensor_msgs::LaserScan>()); node.HandleMultiEchoLaserScanMessage(
} trajectory_id, topic,
if (msg.isType<sensor_msgs::MultiEchoLaserScan>()) { msg.instantiate<sensor_msgs::MultiEchoLaserScan>());
node.HandleMultiEchoLaserScanMessage( }
trajectory_id, topic, if (msg.isType<sensor_msgs::PointCloud2>()) {
msg.instantiate<sensor_msgs::MultiEchoLaserScan>()); node.HandlePointCloud2Message(
} trajectory_id, topic, msg.instantiate<sensor_msgs::PointCloud2>());
if (msg.isType<sensor_msgs::PointCloud2>()) { }
node.HandlePointCloud2Message( if (msg.isType<sensor_msgs::Imu>()) {
trajectory_id, topic, msg.instantiate<sensor_msgs::PointCloud2>()); node.HandleImuMessage(trajectory_id, topic,
} msg.instantiate<sensor_msgs::Imu>());
if (msg.isType<sensor_msgs::Imu>()) { }
node.HandleImuMessage(trajectory_id, topic, if (msg.isType<nav_msgs::Odometry>()) {
msg.instantiate<sensor_msgs::Imu>()); node.HandleOdometryMessage(trajectory_id, topic,
} msg.instantiate<nav_msgs::Odometry>());
if (msg.isType<nav_msgs::Odometry>()) { }
node.HandleOdometryMessage(trajectory_id, topic, if (msg.isType<sensor_msgs::NavSatFix>()) {
msg.instantiate<nav_msgs::Odometry>()); node.HandleNavSatFixMessage(trajectory_id, topic,
} msg.instantiate<sensor_msgs::NavSatFix>());
if (msg.isType<sensor_msgs::NavSatFix>()) { }
node.HandleNavSatFixMessage(trajectory_id, topic,
msg.instantiate<sensor_msgs::NavSatFix>());
} }
clock.clock = msg.getTime(); clock.clock = msg.getTime();
clock_publisher.publish(clock); clock_publisher.publish(clock);