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Fix set pose #827

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merged 3 commits into from
Mar 30, 2022
Merged

Fix set pose #827

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eb4ac39
Fix behavior
Myzhar Mar 30, 2022
64ad93c
Merge branch 'master' into fix_set_pose
Myzhar Mar 30, 2022
153fbe0
update changelog
Myzhar Mar 30, 2022
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3 changes: 3 additions & 0 deletions latest_changes.md
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
LATEST CHANGES
==============

2022-03-30
- Fix wrong TP broadcasting when calling the `set_pose`, `reset_tracking`, and `reset_odometry` services

2022-03-28
- Add parameter `sensors/max_pub_rate` to set the maximum publishing frequency of sensors data
- Improve Sensors thread
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21 changes: 1 addition & 20 deletions zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1240,18 +1240,8 @@ bool ZEDWrapperNodelet::on_set_pose(zed_interfaces::set_pose::Request& req, zed_
mInitialBasePose[4] = req.P;
mInitialBasePose[5] = req.Y;

if (!set_pose(mInitialBasePose[0], mInitialBasePose[1], mInitialBasePose[2], mInitialBasePose[3], mInitialBasePose[4],
mInitialBasePose[5])) {
res.done = false;
return false;
}

std::lock_guard<std::mutex> lock(mPosTrkMutex);

// Disable tracking
mPosTrackingActivated = false;
mZed.disablePositionalTracking();

// Restart tracking
start_pos_tracking();

Expand All @@ -1267,18 +1257,8 @@ bool ZEDWrapperNodelet::on_reset_tracking(zed_interfaces::reset_tracking::Reques
return false;
}

if (!set_pose(mInitialBasePose[0], mInitialBasePose[1], mInitialBasePose[2], mInitialBasePose[3], mInitialBasePose[4],
mInitialBasePose[5])) {
res.reset_done = false;
return false;
}

std::lock_guard<std::mutex> lock(mPosTrkMutex);

// Disable tracking
mPosTrackingActivated = false;
mZed.disablePositionalTracking();

// Restart tracking
start_pos_tracking();

Expand Down Expand Up @@ -1470,6 +1450,7 @@ void ZEDWrapperNodelet::start_pos_tracking()

NODELET_INFO(" * Waiting for valid static transformations...");

mPosTrackingReady = false; // Useful to not publish wrong TF with IMU frame broadcasting
bool transformOk = false;
double elapsed = 0.0;

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