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#include " ndt_scan_matcher/map_update_module.hpp"
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MapUpdateModule::MapUpdateModule (
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- rclcpp::Node * node, std::mutex * ndt_ptr_mutex,
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- NdtPtrType & ndt_ptr, HyperParameters::DynamicMapLoading param)
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+ rclcpp::Node * node, std::mutex * ndt_ptr_mutex, NdtPtrType & ndt_ptr,
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+ HyperParameters::DynamicMapLoading param)
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: ndt_ptr_(ndt_ptr),
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ndt_ptr_mutex_(ndt_ptr_mutex),
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logger_(node->get_logger ()),
@@ -32,7 +32,7 @@ MapUpdateModule::MapUpdateModule(
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secondary_ndt_ptr_.reset (new NdtType);
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if (ndt_ptr_) {
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- RCLCPP_ERROR_STREAM_THROTTLE (logger_, *clock_, 1000 , " Attempt to update a null NDT pointer." );
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+ RCLCPP_ERROR_STREAM_THROTTLE (logger_, *clock_, 1000 , " Attempt to update a null NDT pointer." );
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*secondary_ndt_ptr_ = *ndt_ptr_;
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}
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@@ -130,8 +130,8 @@ void MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt
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status = result.wait_for (std::chrono::seconds (1 ));
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}
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- auto & maps_to_add = result.get ()->new_pointcloud_with_ids ;
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- auto & map_ids_to_remove = result.get ()->ids_to_remove ;
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+ auto & maps_to_add = result.get ()->new_pointcloud_with_ids ;
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+ auto & map_ids_to_remove = result.get ()->ids_to_remove ;
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RCLCPP_INFO (
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logger_, " Update map (Add: %lu, Remove: %lu)" , maps_to_add.size (), map_ids_to_remove.size ());
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