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The global path topic is transformed in latest robot referential as the robot moves

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matlabbe
2015-09-21 18:15:20 -04:00
parent da58edf73a
commit 00f04e62c0
4 changed files with 41 additions and 30 deletions
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src/CoreWrapper.h
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@@ -218,6 +218,7 @@ private:
void goalActiveCb();
void goalFeedbackCb(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
void publishLocalPath(const ros::Time & stamp);
void publishGlobalPath(const ros::Time & stamp);
private:
rtabmap::Rtabmap rtabmap_;