msg/NodeData.msg


int32 id
int32 mapId
int32 weight
float64 stamp
string label

# Pose from odometry not corrected
geometry_msgs/Pose pose

# Ground truth (optional)
geometry_msgs/Pose groundTruthPose

# GPS (optional)
GPS gps

# compressed image in /camera_link frame
# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
uint8[] image

# compressed depth image in /camera_link frame
# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
uint8[] depth

# Camera models
float32[] fx
float32[] fy
float32[] cx
float32[] cy
float32[] width
float32[] height
float32 baseline
# local transform (/base_link -> /camera_link)
geometry_msgs/Transform[] localTransform

# compressed 2D or 3D laser scan
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] laserScan
int32 laserScanMaxPts
float32 laserScanMaxRange
int32 laserScanFormat
# local transform (/base_link -> /base_laser)
geometry_msgs/Transform laserScanLocalTransform

# compressed user data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] userData

# compressed occupancy grid
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] grid_ground
uint8[] grid_obstacles
uint8[] grid_empty_cells
float32 grid_cell_size
Point3f grid_view_point

# std::multimap<wordId, index>
# std::vector<cv::Keypoint>
# std::vector<cv::Point3f>
int32[] wordIdKeys
int32[] wordIdValues
KeyPoint[] wordKpts
Point3f[] wordPts
# compressed descriptors
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] wordDescriptors

GlobalDescriptor[] globalDescriptors

EnvSensor[] env_sensors
ros-pkg: refactoring, updated rtabmap ROS msgs for easier processing (new NodeData.msg). 2014-10-26 21:49:30 +00:00
			`int32 id`
ros-pkg: added all remaining data contained in Signature into NodeData msg 2014-10-30 14:48:31 +00:00			`int32 mapId`
Updated to RTAB-Map 0.8.5: Added node labeling service, and set goal by label 2015-02-27 15:26:30 -05:00			`int32 weight`
			`float64 stamp`
			`string label`
ros-pkg: added all remaining data contained in Signature into NodeData msg 2014-10-30 14:48:31 +00:00
			`# Pose from odometry not corrected`
			`geometry_msgs/Pose pose`
ros-pkg: refactoring, updated rtabmap ROS msgs for easier processing (new NodeData.msg). 2014-10-26 21:49:30 +00:00
Added groundTruthPose field to NodeData msg 2016-01-12 12:39:23 -05:00			`# Ground truth (optional)`
			`geometry_msgs/Pose groundTruthPose`

Updated for RTAB-Map 0.14, added rtabmap_ros/GPS msg and updated NodeData msg 2017-09-26 17:32:05 -04:00			`# GPS (optional)`
			`GPS gps`

ros-pkg: refactoring, updated rtabmap ROS msgs for easier processing (new NodeData.msg). 2014-10-26 21:49:30 +00:00			`# compressed image in /camera_link frame`
Updated ros-pkg for RTAB-Map 0.8.0 2014-12-14 16:44:13 -05:00			`# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"`
			`uint8[] image`
ros-pkg: refactoring, updated rtabmap ROS msgs for easier processing (new NodeData.msg). 2014-10-26 21:49:30 +00:00
			`# compressed depth image in /camera_link frame`
Updated ros-pkg for RTAB-Map 0.8.0 2014-12-14 16:44:13 -05:00			`# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"`
			`uint8[] depth`
ros-pkg: refactoring, updated rtabmap ROS msgs for easier processing (new NodeData.msg). 2014-10-26 21:49:30 +00:00
Updated for rtabmap 0.10.0 (multi-cameras) 2015-05-30 20:08:20 -04:00			`# Camera models`
			`float32[] fx`
			`float32[] fy`
			`float32[] cx`
			`float32[] cy`
Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node). 2016-09-26 16:37:31 -04:00			`float32[] width`
			`float32[] height`
Updated for rtabmap 0.10.0 (multi-cameras) 2015-05-30 20:08:20 -04:00			`float32 baseline`
			`# local transform (/base_link -> /camera_link)`
			`geometry_msgs/Transform[] localTransform`
ros-pkg: refactoring, updated rtabmap ROS msgs for easier processing (new NodeData.msg). 2014-10-26 21:49:30 +00:00
Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member. 2020-05-03 22:42:01 -04:00			`# compressed 2D or 3D laser scan`
Updated ros-pkg for RTAB-Map 0.8.0 2014-12-14 16:44:13 -05:00			`# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"`
			`uint8[] laserScan`
Updated for rtabmap 0.10.0 (multi-cameras) 2015-05-30 20:08:20 -04:00			`int32 laserScanMaxPts`
Updated to RTAB-Map 0.10.7. For rtabmap node: Added cloud_floor_culling_height (double) and cloud_frustum_culling (bool) 2015-09-17 22:58:29 -04:00			`float32 laserScanMaxRange`
Fixed build for upstream 0.16.1 2018-02-16 20:00:32 -05:00			`int32 laserScanFormat`
Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member. 2020-05-03 22:42:01 -04:00			`# local transform (/base_link -> /base_laser)`
0.11.10: Updated LaserScanInfo interface. Updated NodeData msg with occupancy grids and laser scan local transform. MapsManager is now using directly the occupancy grids saved in nodes for 3D cloud, octomap and grid map. 2016-08-21 19:38:28 -04:00			`geometry_msgs/Transform laserScanLocalTransform`
ros-pkg: refactoring, updated rtabmap ROS msgs for easier processing (new NodeData.msg). 2014-10-26 21:49:30 +00:00
fixed build bor rtabmap 0.10.1 2015-06-28 20:40:57 -04:00			`# compressed user data`
			`# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"`
			`uint8[] userData`

0.11.10: Updated LaserScanInfo interface. Updated NodeData msg with occupancy grids and laser scan local transform. MapsManager is now using directly the occupancy grids saved in nodes for 3D cloud, octomap and grid map. 2016-08-21 19:38:28 -04:00			`# compressed occupancy grid`
			`# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"`
			`uint8[] grid_ground`
			`uint8[] grid_obstacles`
0.16.0: updated for upstream 0.16 2018-02-08 21:42:15 -05:00			`uint8[] grid_empty_cells`
0.11.10: Updated LaserScanInfo interface. Updated NodeData msg with occupancy grids and laser scan local transform. MapsManager is now using directly the occupancy grids saved in nodes for 3D cloud, octomap and grid map. 2016-08-21 19:38:28 -04:00			`float32 grid_cell_size`
			`Point3f grid_view_point`

NodeData: fixed wrong word indexes (causing visualization issues of corresponding features in rtabmapviz) 2021-12-24 17:22:08 -05:00			`# std::multimap<wordId, index>`
			`# std::vector<cv::Keypoint>`
			`# std::vector<cv::Point3f>`
			`int32[] wordIdKeys`
			`int32[] wordIdValues`
Updated ros-pkg for RTAB-Map 0.8.0 2014-12-14 16:44:13 -05:00			`KeyPoint[] wordKpts`
Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member. 2020-05-03 22:42:01 -04:00			`Point3f[] wordPts`
Added missing descriptors in NodeData msg 2016-08-12 11:37:29 -04:00			`# compressed descriptors`
			`# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"`
Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member. 2020-05-03 22:42:01 -04:00			`uint8[] wordDescriptors`

			`GlobalDescriptor[] globalDescriptors`
Added EnvSensor msg. Wifi example: added max,min,hue_symbol parameters. 2020-07-22 14:38:02 -04:00
			`EnvSensor[] env_sensors`