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Fix set pose #827

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Merged
Myzhar 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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Fix behavior
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@Myzhar
Myzhar committed Mar 30, 2022
commit eb4ac39aed611fadc03485858c3e826d8f85cd64
17 changes: 9 additions & 8 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 @@ -1240,17 +1240,17 @@ 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],
/*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();
//mPosTrackingActivated = false;
//mZed.disablePositionalTracking();

// Restart tracking
start_pos_tracking();
Expand All @@ -1267,17 +1267,17 @@ 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],
/*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();
//mPosTrackingActivated = false;
//mZed.disablePositionalTracking();

// Restart tracking
start_pos_tracking();
Expand Down Expand Up @@ -1470,6 +1470,7 @@ void ZEDWrapperNodelet::start_pos_tracking()

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

mPosTrackingReady = false;
bool transformOk = false;
double elapsed = 0.0;

Expand Down