rtabmap_msgs/msg/ScanDescriptor.msg


Header header

# scan or scan_cloud is set
sensor_msgs/LaserScan scan
sensor_msgs/PointCloud2 scan_cloud

GlobalDescriptor global_descriptor
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
			`Header header`

			`# scan or scan_cloud is set`
			`sensor_msgs/LaserScan scan`
			`sensor_msgs/PointCloud2 scan_cloud`

			`GlobalDescriptor global_descriptor`