Added use_cached_poses parameter allowing to auto initialize the tracker if cached poses are used.

Author: cassinaj

source/dbot_ros/tracker/particle_tracker_node.cpp

@@ -223,13 +223,16 @@ int main(int argc, char** argv)
     /* ------------------------------ */
     /* - Initialize interactively   - */
     /* ------------------------------ */
+    bool use_cached_poses = false;
+    nh.getParam("use_cached_poses", use_cached_poses);
     opi::InteractiveMarkerInitializer object_initializer(
         camera_data->frame_id(),
         ori.package(),
         ori.directory(),
         ori.meshes(),
         {},
-        true);
+        true,
+        use_cached_poses);
     if (!object_initializer.wait_for_object_poses())
     {
         ROS_INFO("Setting object poses was interrupted.");
@@ -245,6 +248,7 @@ int main(int argc, char** argv)
         initial_poses[0].component(i++) = ri::to_pose_velocity_vector(ros_pose);
     }
 
+
     tracker->initialize(initial_poses);
 
     /* ------------------------------ */