Expose and use the proposed open_karto parameter, minimum time interval #11
Conversation
| bool use_scan_barycenter; | ||
| if(private_nh_.getParam("use_scan_barycenter", use_scan_barycenter)) | ||
| mapper_->setParamUseScanBarycenter(use_scan_barycenter); | ||
|
|
||
| double minimum_time_interval; | ||
| if(private_nh_.getParam("minimum_time_interval", minimum_time_interval)) | ||
| mapper_->setParamMinimumTimeInterval(minimum_time_interval); |
There was a problem hiding this comment.
if you would, @spmaniato , please add {}s to the if/else's in this file and do a full lint.
|
@spmaniato Would you like to check this out? |
|
@lucbettaieb Hey Luc, thanks for following up. I haven't worked on the Karto codebases in over a year. And unfortunately I don't have dev and sim environments set up to make and test any changes. And I don't feel comfortable pushing untested changes 😬 Moreover, if we were to do a full lint of this codebase, I bet it would come up with hundreds of issues. Fixing just this one file wouldn't help much. And we would be mixing my minimal functional changes with dozens of lines of linting-related changes, thus making the PR harder to review. May I recommend a separate PR that focuses entirely on linting and non-functional changes? Sorry I cannot be more helpful at this time. |
|
@spmaniato I didn't intend to ask you to do a full lint of the codebase.. lol that would be ridiculous. |
If you do not want to merge it in its current state, that's understandable. But I cannot work on it now or in the foreseeable future. Feel free to close it if you prefer and I'll re-open when and if I can work on it. |
|
Oops - you're right about the spaces. My bad! Haven't looked at this in a while. 😅 Whenever you have time to test this, please let me know. No rush. Just wanted to ping you to see if you wanted to do anything with this. |
|
@spmaniato Are you still interested in merging this? |
…tor-mapping-launch RST-244 Wait for map->local transform
This PR is tied to ros-perception/open_karto#11⚠️
This is a follow-up to the open_karto PR mentioned above. It adds a new ROS param,
minimum_time_interval, which is used to set the proposed open_karto paramMinimumTimeInterval. It also passes the laser scan message's time stamp to open_karto enabling it to calculate the time interval between two scans.