12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixes bug not displaying all submaps in RViz. (#9) 

The 'version_' member of a DrawableSubmap is now properly initialized.
The redundant 'submap_id' in the SubmapQuery response is removed.
The missing slot for reset() is added.
master
Wolfgang Hess 2016-08-04 17:59:03 +02:00 committed by GitHub
parent 61055d1dcb
commit 916b4fbac3
5 changed files with 5 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
cartographer_ros/src/cartographer_node_main.cc
View File

@ -470,7 +470,6 @@ bool Node::HandleSubmapQuery(
sparse_pose_graph_->GetTrajectoryNodes(), sparse_pose_graph_->GetTrajectoryNodes(),
submap_transforms[request.submap_id], &response_proto); submap_transforms[request.submap_id], &response_proto);
response.submap_id = response_proto.submap_id();
response.submap_version = response_proto.submap_version(); response.submap_version = response_proto.submap_version();
response.cells.insert(response.cells.begin(), response_proto.cells().begin(), response.cells.insert(response.cells.begin(), response_proto.cells().begin(),
response_proto.cells().end()); response_proto.cells().end());

1
cartographer_ros/src/drawable_submap.cc
View File

@ -68,6 +68,7 @@ DrawableSubmap::DrawableSubmap(const int submap_id, const int trajectory_id,
trajectory_id_(trajectory_id), trajectory_id_(trajectory_id),
last_query_timestamp_(0), last_query_timestamp_(0),
query_in_progress_(false), query_in_progress_(false),
version_(0),
texture_count_(0), texture_count_(0),
current_alpha_(0) { current_alpha_(0) {
material_ = Ogre::MaterialManager::getSingleton().getByName( material_ = Ogre::MaterialManager::getSingleton().getByName(

4
cartographer_ros/src/submaps_display.cc
View File

@ -54,7 +54,7 @@ SubmapsDisplay::SubmapsDisplay()
submap_query_service_property_ = new ::rviz::StringProperty( submap_query_service_property_ = new ::rviz::StringProperty(
"Submap query service", "Submap query service",
QString("/cartographer/") + kSubmapQueryServiceName, QString("/cartographer/") + kSubmapQueryServiceName,
"Submap query service to connect to.", this, SLOT(reset())); "Submap query service to connect to.", this, SLOT(Reset()));
map_frame_property_ = new ::rviz::StringProperty( map_frame_property_ = new ::rviz::StringProperty(
"Map frame", kDefaultMapFrame, "Map frame, used for fading out submaps.", "Map frame", kDefaultMapFrame, "Map frame, used for fading out submaps.",
this); this);
@ -101,6 +101,8 @@ void SubmapsDisplay::CreateClient() {
submap_query_service_property_->getStdString()); submap_query_service_property_->getStdString());
} }
void SubmapsDisplay::Reset() { reset(); }
void SubmapsDisplay::RequestNewSubmaps() { void SubmapsDisplay::RequestNewSubmaps() {
::cartographer::common::MutexLocker locker(&mutex_); ::cartographer::common::MutexLocker locker(&mutex_);
for (int trajectory_id = 0; trajectory_id < submap_list_.trajectory.size(); for (int trajectory_id = 0; trajectory_id < submap_list_.trajectory.size();

1
cartographer_ros/src/submaps_display.h
View File

@ -60,6 +60,7 @@ class SubmapsDisplay
void SubmapListUpdated(); void SubmapListUpdated();
private Q_SLOTS: private Q_SLOTS:
void Reset();
void RequestNewSubmaps(); void RequestNewSubmaps();
private: private:

1
cartographer_ros_msgs/srv/SubmapQuery.srv
View File

@ -15,7 +15,6 @@
int32 submap_id int32 submap_id
int32 trajectory_id int32 trajectory_id
--- ---
int32 submap_id
int32 submap_version int32 submap_version
uint8[] cells uint8[] cells
int32 width int32 width