Re: Real-Time Multi Robot Map Combination

Posted by Jacobmo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Real-Time-Multi-Robot-Map-Combination-tp5992p5997.html

I am running into a few errors with your sugestion. here is my current c++ code. do you know what I am doing wrong?

this line says  no matching conversion for functional-style cast from 'std::string' (aka 'basic_string<char>') to 'rtabmap::ParametersPair' (aka 'pair<basic_string<char>, basic_string<char> >')

 // Keep everything in RAM
  parameters.at(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory())) = "true";

also what else is supposed to be in the parenthases in the next line?
rtabmap::Rtabmap rtabmap(parameters...);


This is how I have set up my mapdata callback
void MapMerger::mapCallback1(const rtabmap_ros::MapData& msg)
{
  rtabmap_ros::NodeData node{msg.nodes.back()};
  rtabmap::Signature sig{rtabmap_ros::nodeDataFromROS(node)};
  nodesMap1.push_back(sig);
}

and when I try to step through the iteratator for the signature:

for(std::list<rtabmap::Signature>::iterator iter=nodesMap0.begin(); iter!=nodesMap0.end();++iter)
    {
       rtabmap::SensorData data = iter->data();
       data.uncompress();
       rtabmap.process(data, iter->pose(), odomLinearVariance, odomAngularVariance);
    }
    rtabmap.triggerNewMap(); // start a new session for the second robot

it says "no member named 'data' in 'rtabmap::Signature'

so it isnt letting me do any of that.

I will keep looking at it to figure it out but i figured if there were quick easy changes that you saw, it would speed it up. thank you!