Added new flag and param, fixed underscore on other params.

asa_ros/include/asa_ros/asa_ros_node.h

@@ -113,13 +113,17 @@ class AsaRosNode {
   // A flag indicating that the node will use an approximate time synchronization  
   // policy to synchronize the images with the camera_info messages instead of the 
   // exact synchronizer
-  bool use_approx_sync_policy;
+  bool use_approx_sync_policy_;
 
   // The queue size of the subscribers used for the image and camera_info topic
-  int queue_size;
+  int queue_size_;
 
   // A flag that tells the asa interface to log debug logs
-  bool activate_interface_level_logging;
+  bool activate_interface_level_logging_;
+
+  // Flag to select whether to query the last anchor that was created and read
+  // the anchor id from a cache file, or to manually provide one.
+  bool query_last_anchor_id_from_cache_;
 
   // Cache of which anchors are currently being queried. This will be only used
   // when reset() (but not resetCompletely() is called, to restart any

asa_ros/src/asa_ros_node.cpp

@@ -27,20 +27,21 @@ AsaRosNode::~AsaRosNode() {}
 
 void AsaRosNode::initFromRosParams() {
 
-  nh_private_.param("subscriber_queue_size", queue_size, 1);
-  nh_private_.param("use_approx_sync_policy", use_approx_sync_policy, false);
-  nh_private_.param("activate_interface_level_logging", activate_interface_level_logging, false);
+  nh_private_.param("subscriber_queue_size", queue_size_, 1);
+  nh_private_.param("use_approx_sync_policy", use_approx_sync_policy_, false);
+  nh_private_.param("activate_interface_level_logging", activate_interface_level_logging_, false);
+  nh_private_.param("query_last_anchor_id_from_cache", query_last_anchor_id_from_cache_, false);
 
-  if(queue_size > 1 || use_approx_sync_policy) {
-    ROS_INFO_STREAM("Starting image and info subscribers with approximate time sync, where que-size is " << queue_size);
+  if(queue_size_ > 1 || use_approx_sync_policy_) {
+    ROS_INFO_STREAM("Starting image and info subscribers with approximate time sync, where queue size is " << queue_size_);
   }
 
   // Subscribe to the camera images.
-  image_sub_.subscribe(nh_, "image", queue_size);
-  info_sub_.subscribe(nh_, "camera_info", queue_size);
+  image_sub_.subscribe(nh_, "image", queue_size_);
+  info_sub_.subscribe(nh_, "camera_info", queue_size_);
   
-  if(use_approx_sync_policy) {
-    image_info_approx_sync_.reset(new message_filters::Synchronizer<CameraSyncPolicy>(CameraSyncPolicy(queue_size), image_sub_, info_sub_));
+  if(use_approx_sync_policy_) {
+    image_info_approx_sync_.reset(new message_filters::Synchronizer<CameraSyncPolicy>(CameraSyncPolicy(queue_size_), image_sub_, info_sub_));
     image_info_approx_sync_->registerCallback(boost::bind(&AsaRosNode::imageAndInfoCallback, this, _1, _2));
   } else {
     image_info_sync_.reset(
@@ -99,7 +100,7 @@ void AsaRosNode::initFromRosParams() {
 
   interface_.reset(new AzureSpatialAnchorsInterface(asa_config));
 
-  if(activate_interface_level_logging){
+  if(activate_interface_level_logging_){
     interface_->ActivateInterfaceLevelLogging();
   }