Address review comments

ethz-asl · Jan 18, 2024 · 97af8cc · 97af8cc
1 parent 1ad2df9
commit 97af8cc
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Showing 4 changed files with 26 additions and 17 deletions.
diff --git a/include/grid_map_geo/grid_map_geo.hpp b/include/grid_map_geo/grid_map_geo.hpp
@@ -48,7 +48,7 @@ struct Location {
 
 class GridMapGeo {
  public:
-  GridMapGeo(const std::string frame_id = "map");
+  GridMapGeo(const std::string& frame_id = "map");
   virtual ~GridMapGeo();
 
   /**
@@ -91,6 +91,16 @@ class GridMapGeo {
    */
   std::string getCoordinateName() { return coordinate_name_; };
 
+
+  /**
+   * @brief Overloading terrain loading with only elevation
+   * 
+   * @param map_path Path to dsm path (Supported formats are *.tif)
+   */
+  bool Load(const std::string& map_path) {
+    Load(map_path, "");
+  }
+
   /**
    * @brief Helper function for loading terrain from path
    *
@@ -99,7 +109,7 @@ class GridMapGeo {
    * @return true Successfully loaded terrain
    * @return false Failed to load terrain
    */
-  bool Load(const std::string& map_path, const std::string color_map_path = "");
+  bool Load(const std::string& map_path, const std::string &color_map_path);
 
   /**
    * @brief Initialize grid map from a geotiff file
@@ -170,7 +180,7 @@ class GridMapGeo {
    */
   void AddLayerNormals(std::string reference_layer);
 
-  geometry_msgs::msg::TransformStamped static_transformStamped;
+  geometry_msgs::msg::TransformStamped static_transformStamped_;
 
  protected:
   grid_map::GridMap grid_map_;

diff --git a/launch/load_multiple_tif_launch.xml b/launch/load_multiple_tif_launch.xml
@@ -1,6 +1,5 @@
 <launch>
     <arg name="rviz" default="true"/>
-    <arg name="location" default="sargans"/>
     <node pkg="tf2_ros" exec="static_transform_publisher" name="world_map" args="--frame-id world --child-frame-id map"/>
 
     <node pkg="grid_map_geo" exec="test_tif_loader" name="first_tif_loader" output="screen">

diff --git a/src/grid_map_geo.cpp b/src/grid_map_geo.cpp
@@ -58,11 +58,11 @@
 #include <gdal/ogr_spatialref.h>
 #endif
 
-GridMapGeo::GridMapGeo(const std::string frame_id) { frame_id_ = frame_id; }
+GridMapGeo::GridMapGeo(const std::string& frame_id) { frame_id_ = frame_id; }
 
 GridMapGeo::~GridMapGeo() {}
 
-bool GridMapGeo::Load(const std::string &map_path, const std::string color_map_path) {
+bool GridMapGeo::Load(const std::string &map_path, const std::string &color_map_path) {
   bool loaded = initializeFromGeotiff(map_path);
   if (!color_map_path.empty()) {  // Load color layer if the color path is nonempty
     bool color_loaded = addColorFromGeotiff(color_map_path);

diff --git a/src/test_tif_loader.cpp b/src/test_tif_loader.cpp
@@ -78,18 +78,18 @@ class MapPublisher : public rclcpp::Node {
     Eigen::Vector3d map_origin;
     map_->getGlobalOrigin(epsg, map_origin);
 
-    geometry_msgs::msg::TransformStamped static_transformStamped;
-    static_transformStamped.header.frame_id = map_->getCoordinateName();
-    static_transformStamped.child_frame_id = map_->getGridMap().getFrameId();
-    static_transformStamped.transform.translation.x = map_origin(0);
-    static_transformStamped.transform.translation.y = map_origin(1);
-    static_transformStamped.transform.translation.z = 0.0;
-    static_transformStamped.transform.rotation.x = 0.0;
-    static_transformStamped.transform.rotation.y = 0.0;
-    static_transformStamped.transform.rotation.z = 0.0;
-    static_transformStamped.transform.rotation.w = 1.0;
+    geometry_msgs::msg::TransformStamped static_transformStamped_;
+    static_transformStamped_.header.frame_id = map_->getCoordinateName();
+    static_transformStamped_.child_frame_id = map_->getGridMap().getFrameId();
+    static_transformStamped_.transform.translation.x = map_origin.x();
+    static_transformStamped_.transform.translation.y = map_origin.y();
+    static_transformStamped_.transform.translation.z = 0.0;
+    static_transformStamped_.transform.rotation.x = 0.0;
+    static_transformStamped_.transform.rotation.y = 0.0;
+    static_transformStamped_.transform.rotation.z = 0.0;
+    static_transformStamped_.transform.rotation.w = 1.0;
 
-    tf_broadcaster_->sendTransform(static_transformStamped);
+    tf_broadcaster_->sendTransform(static_transformStamped_);
   }
 
  private: