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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/MsgConversion.cpp
+2
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@@ -174,6 +174,7 @@ void infoFromROS(const rtabmap_ros::Info & info, rtabmap::Statistics & stat)
stat.setWeights(mapIntInt);
stat.setLocalPath(info.localPath);
stat.setCurrentGoalId(info.currentGoalId);
// Statistics data
for(unsigned int i=0; i<info.statsKeys.size() && i<info.statsValues.size(); i++)
@@ -203,6 +204,7 @@ void infoToROS(const rtabmap::Statistics & stats, rtabmap_ros::Info & info)
info.weightsKeys = uKeys(stats.weights());
info.weightsValues = uValues(stats.weights());
info.localPath = stats.localPath();
info.currentGoalId = stats.currentGoalId();
// Statistics data
info.statsKeys = uKeys(stats.data());