Fixed python interpretor not loaded for odometry nodes

introlab · Apr 29, 2024 · f07e4f0 · f07e4f0
1 parent 4fa32b8
commit f07e4f0
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Showing 3 changed files with 21 additions and 0 deletions.
diff --git a/rtabmap_odom/src/RGBDICPOdometryNode.cpp b/rtabmap_odom/src/RGBDICPOdometryNode.cpp
@@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "nodelet/loader.h"
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/core/Parameters.h>
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
 
 int main(int argc, char **argv)
 {
@@ -69,6 +72,10 @@ int main(int argc, char **argv)
 		nargv.push_back(argv[i]);
 	}
 
+#ifdef RTABMAP_PYTHON
+	rtabmap::PythonInterface pythonInterface;
+#endif
+
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
 	std::string nodelet_name = ros::this_node::getName();

diff --git a/rtabmap_odom/src/RGBDOdometryNode.cpp b/rtabmap_odom/src/RGBDOdometryNode.cpp
@@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "nodelet/loader.h"
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/core/Parameters.h>
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
 
 int main(int argc, char **argv)
 {
@@ -69,6 +72,10 @@ int main(int argc, char **argv)
 		nargv.push_back(argv[i]);
 	}
 
+#ifdef RTABMAP_PYTHON
+	rtabmap::PythonInterface pythonInterface;
+#endif
+
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
 	std::string nodelet_name = ros::this_node::getName();

diff --git a/rtabmap_odom/src/StereoOdometryNode.cpp b/rtabmap_odom/src/StereoOdometryNode.cpp
@@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "nodelet/loader.h"
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/core/Parameters.h>
+#ifdef RTABMAP_PYTHON
+#include <rtabmap/core/PythonInterface.h>
+#endif
 
 int main(int argc, char **argv)
 {
@@ -70,6 +73,10 @@ int main(int argc, char **argv)
 
 	}
 
+#ifdef RTABMAP_PYTHON
+	rtabmap::PythonInterface pythonInterface;
+#endif
+
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
 	std::string nodelet_name = ros::this_node::getName();