From 320b71d6f1ef0409d65cb29b83c6235b0802843a Mon Sep 17 00:00:00 2001
From: Lisa <robbie@uni-koblenz.de>
Date: Thu, 9 Feb 2017 23:04:55 +0100
Subject: [PATCH] map manager crash
---
homer_map_manager/src/Managers/MaskingManager.cpp | 15 +++++++++++++++
homer_map_manager/src/map_manager_node.cpp | 6 ++----
2 files changed, 17 insertions(+), 4 deletions(-)
diff --git a/homer_map_manager/src/Managers/MaskingManager.cpp b/homer_map_manager/src/Managers/MaskingManager.cpp
index 2ee1dd73..e820dc90 100644
--- a/homer_map_manager/src/Managers/MaskingManager.cpp
+++ b/homer_map_manager/src/Managers/MaskingManager.cpp
@@ -65,8 +65,23 @@ nav_msgs::OccupancyGrid::ConstPtr MaskingManager::modifyMap(
}
nav_msgs::OccupancyGrid::ConstPtr MaskingManager::resetMap() {
+
+
+ m_MaskingMap.info.width = 1;
+ m_MaskingMap.info.height = 1;
+ m_MaskingMap.info.resolution = 1;
+ m_MaskingMap.info.origin.position.x = 0;
+ m_MaskingMap.info.origin.position.y = 0;
+ m_MaskingMap.data.resize(m_MaskingMap.info.width *
+ m_MaskingMap.info.height);
std::fill(m_MaskingMap.data.begin(), m_MaskingMap.data.end(),
homer_mapnav_msgs::ModifyMap::NOT_MASKED);
+
+ m_SlamMap.info = m_MaskingMap.info;
+ m_SlamMap.data.resize(m_SlamMap.info.width * m_SlamMap.info.height);
+ std::fill(m_SlamMap.data.begin(), m_SlamMap.data.end(),
+ homer_mapnav_msgs::ModifyMap::NOT_MASKED);
+
nav_msgs::OccupancyGrid::ConstPtr ret =
boost::make_shared<const ::nav_msgs::OccupancyGrid>(m_MaskingMap);
return ret;
diff --git a/homer_map_manager/src/map_manager_node.cpp b/homer_map_manager/src/map_manager_node.cpp
index 185dce9f..babc26f2 100644
--- a/homer_map_manager/src/map_manager_node.cpp
+++ b/homer_map_manager/src/map_manager_node.cpp
@@ -4,10 +4,8 @@
MapManagerNode::MapManagerNode(ros::NodeHandle* nh) {
m_LastLaserTime = ros::Time::now();
- int mapSize;
- float resolution;
- ros::param::param("/homer_mapping/size", mapSize, (int)35);
- ros::param::param("/homer_mapping/resolution", resolution, (float)0.05);
+ int mapSize = 1;
+ float resolution = 1;
ros::param::param("/map_manager/roi_updates", m_roi_polling, (bool)false);
ros::param::param("/map_manager/roi_polling_time", m_roi_polling_time,
(float)0.5);
--
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