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aruco_detect: wait util map is published to avoid race condition

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This commit is contained in:
Oleg Kalachev
2022-10-31 01:32:57 +06:00
parent ee17a3bada
commit 99fad312c5
1 changed files with 5 additions and 1 deletions
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6
aruco_pose/src/aruco_detect.cpp
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@@ -72,6 +72,7 @@ private:
ros::Subscriber map_markers_sub_;
ros::ServiceServer set_markers_srv_;
bool estimate_poses_, send_tf_, auto_flip_, use_map_markers_;
bool waiting_for_map_;
double length_;
ros::Duration transform_timeout_;
std::unordered_map<int, double> length_override_;
@@ -95,7 +96,8 @@ public:
dictionary = nh_priv_.param("dictionary", 2);
estimate_poses_ = nh_priv_.param("estimate_poses", true);
send_tf_ = nh_priv_.param("send_tf", true);
use_map_markers_ = nh_priv_.param("use_map_markers", true);
use_map_markers_ = nh_priv_.param("use_map_markers", false);
waiting_for_map_ = use_map_markers_;
if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
ros::shutdown();
@@ -134,6 +136,7 @@ private:
void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
{
if (!enabled_) return;
if (waiting_for_map_) return;
Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
@@ -402,6 +405,7 @@ private:
}
}
}
waiting_for_map_ = false;
}
void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)