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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/GuiWrapper.h
+53 -1
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@@ -72,7 +72,7 @@ protected:
private:
void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, bool subscribeOdomInfo, int queueSize);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, bool subscribeOdomInfo, bool subscribeStereo, int queueSize);
void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg); // odom
void depthCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -90,6 +90,27 @@ private:
const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg);
void stereoScanCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoOdomInfoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void stereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& leftImageMsg,
const sensor_msgs::ImageConstPtr& rightImageMsg,
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
void processRequestedMap(const rtabmap_ros::MapData & map);
private:
@@ -113,6 +134,11 @@ private:
message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
image_transport::SubscriberFilter imageRectLeft_;
image_transport::SubscriberFilter imageRectRight_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
typedef message_filters::sync_policies::ExactTime<
rtabmap_ros::Info,
rtabmap_ros::MapData> MyInfoMapSyncPolicy;
@@ -140,6 +166,32 @@ private:
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthOdomInfoSyncPolicy;
message_filters::Synchronizer<MyDepthOdomInfoSyncPolicy> * depthOdomInfoSync_;
typedef message_filters::sync_policies::ApproximateTime<
nav_msgs::Odometry,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo> MyStereoSyncPolicy;
message_filters::Synchronizer<MyStereoSyncPolicy> * stereoSync_;
typedef message_filters::sync_policies::ApproximateTime<
nav_msgs::Odometry,
sensor_msgs::LaserScan,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo> MyStereoScanSyncPolicy;
message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
typedef message_filters::sync_policies::ApproximateTime<
nav_msgs::Odometry,
rtabmap_ros::OdomInfo,
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo,
sensor_msgs::CameraInfo> MyStereoOdomInfoSyncPolicy;
message_filters::Synchronizer<MyStereoOdomInfoSyncPolicy> * stereoOdomInfoSync_;
};
#endif /* GUIWRAPPER_H_ */