From de56e24878121b3bb1614291264ca43f5c72cf97 Mon Sep 17 00:00:00 2001 From: Katharina Xenia Kufieta Date: Thu, 9 Mar 2023 14:19:44 -0500 Subject: [PATCH] RSDK-2252 - Unable to run cartogropher through RDK (#174) --- config/config.go | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/config/config.go b/config/config.go index 679e743a..51ad9ee2 100644 --- a/config/config.go +++ b/config/config.go @@ -131,8 +131,9 @@ func (config *AttrConfig) SetOptionalParameters(defaultPort string, defaultDataR return nil } -// SetOptionalParametersReplacement updates any unset optional config parameters to the values passed to this function. -func SetOptionalParametersReplacement(config *AttrConfig, defaultPort string, +// GetOptionalParameters sets any unset optional config parameters to the values passed to this function, +// and returns them. +func GetOptionalParameters(config *AttrConfig, defaultPort string, defaultDataRateMsec, defaultMapRateSec int, logger golog.Logger, ) (string, int, int, bool, bool, error) { port := config.Port @@ -146,10 +147,12 @@ func SetOptionalParametersReplacement(config *AttrConfig, defaultPort string, logger.Debugf("no data_rate_msec given, setting to default value of %d", defaultDataRateMsec) } - mapRateSec := *config.MapRateSec + mapRateSec := 0 if config.MapRateSec == nil { logger.Debugf("no map_rate_sec given, setting to default value of %d", defaultMapRateSec) mapRateSec = defaultMapRateSec + } else { + mapRateSec = *config.MapRateSec } if mapRateSec == 0 { logger.Info("setting slam system to localization mode")