33 threads_.push_back(std::make_unique<boost::thread>(
48 PosedScan scan_w_pose =
q_.front();
54 "Recommend stopping until message is gone if online mapping.",
68 const sensor_msgs::LaserScan::ConstPtr& scan)
84 " device for %s; discarding scan", scan->header.frame_id.c_str());
91 q_.push(PosedScan(scan, pose));
99 slam_toolbox_msgs::ClearQueue::Request& req,
100 slam_toolbox_msgs::ClearQueue::Response& resp)
103 ROS_INFO(
"SynchronousSlamToolbox: Clearing all queued scans to add to map.");
114 slam_toolbox_msgs::DeserializePoseGraph::Request& req,
115 slam_toolbox_msgs::DeserializePoseGraph::Response& resp)
118 if (req.match_type == procType::LOCALIZE_AT_POSE)
120 ROS_ERROR(
"Requested a localization deserialization " 121 "in non-localization mode.");
ServiceServer advertiseService(const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj)
#define ROS_WARN_THROTTLE(period,...)