Skip to content

let first measurement pass to start the ball rolling #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 1 commit into from
Jul 31, 2018
Merged

let first measurement pass to start the ball rolling #1

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion include/slam_toolbox/slam_toolbox.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -143,7 +143,7 @@ class SlamToolbox
int throttle_scans_;
ros::Duration map_update_interval_;
double resolution_, minimum_time_interval_, minimum_travel_distance_;
bool publish_occupancy_map_;
bool publish_occupancy_map_, first_measurement_;

// Karto bookkeeping
karto::Mapper* mapper_;
Expand Down
18 changes: 17 additions & 1 deletion src/slam_toolbox.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,8 @@ SlamToolbox::SlamToolbox() :
pause_new_measurements_(false),
interactive_mode_(false),
laser_count_(0),
tf_(ros::Duration(14400.)) // 4 hours
tf_(ros::Duration(14400.)),
first_measurement_(true) // 4 hours
/*****************************************************************************/
{
interactive_server_ = \
Expand Down Expand Up @@ -629,6 +630,21 @@ void SlamToolbox::LaserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
return;
}

// let the first measurement pass to start the ball rolling
if (first_measurement_)
{
karto::Pose2 pose;
if(!GetOdomPose(pose, scan->header.stamp))
{
return;
}
q_.push(posed_scan(scan, pose));
last_scan_time = scan->header.stamp.toSec();
last_pose = pose;
first_measurement_ = false;
return;
}

// throttled out
laser_count_++;
if ((laser_count_ % throttle_scans_) != 0)
Expand Down