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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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src/CoreWrapper.h
+6 -6
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@@ -94,8 +94,7 @@ private:
const sensor_msgs::LaserScanConstPtr& scanMsg,
const nav_msgs::OdometryConstPtr & odomMsg);
void goalNodeCallback(const std_msgs::Int32ConstPtr & msg);
void updateGoal();
void publishGoal();
void updateGoal(const ros::Time & stamp);
void process(
int id,
@@ -126,7 +125,9 @@ private:
void publishLoop(double tfDelay);
void publishStats(const rtabmap::Statistics & stats);
void publishStats(const rtabmap::Statistics & stats, const ros::Time & stamp);
void publishGoal(const ros::Time & stamp);
void publishLocalPath(const ros::Time & stamp);
private:
rtabmap::Rtabmap rtabmap_;
@@ -152,10 +153,9 @@ private:
//Planning stuff
ros::Subscriber goalNodeSub_;
ros::Publisher nextMetricGoalPub_;
ros::Publisher nextMetricGoalIdPub_;
ros::Publisher goalReachedPub_;
ros::Publisher pathPub_;
ros::Publisher pathIdsPub_;
ros::Publisher globalPathPub_;
ros::Publisher localPathPub_;
// for loop closure detection only
image_transport::Subscriber defaultSub_;