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MsgConversion.h: added conversion of rtabmap_ros/Info messages from/to rtabmap::Statistics

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rtabmapviz: added subscription to stereo.
Updated demo_stereo_outdoor.launch with arguments to choose between rtabmapviz and rviz
Added localPath array in rtabmap_ros/Info message
rtabmap: publishing the local path, uniformized time stamps between published topics at each iteration
This commit is contained in:
Mathieu Labbe
2015-02-03 11:16:06 -05:00
parent a78cbb533c
commit 0b67fe4e3b
8 changed files with 611 additions and 193 deletions
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include/rtabmap_ros/MsgConversion.h
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@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Link.h>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/OdometryInfo.h>
#include <rtabmap/core/Statistics.h>
#include <rtabmap_ros/Link.h>
#include <rtabmap_ros/KeyPoint.h>
@@ -47,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_ros/Graph.h>
#include <rtabmap_ros/NodeData.h>
#include <rtabmap_ros/OdomInfo.h>
#include <rtabmap_ros/Info.h>
namespace rtabmap_ros {
@@ -63,6 +65,9 @@ rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes);
cv::Mat compressedMatFromBytes(const std::vector<unsigned char> & bytes, bool copy = true);
void infoFromROS(const rtabmap_ros::Info & info, rtabmap::Statistics & stat);
void infoToROS(const rtabmap::Statistics & stats, rtabmap_ros::Info & info);
rtabmap::Link linkFromROS(const rtabmap_ros::Link & msg);
void linkToROS(const rtabmap::Link & link, rtabmap_ros::Link & msg);