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Added remove_label service. Updated get_nodes_in_radius service (added parameter k, return also distances of nodes found)

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matlabbe
2022-01-20 19:00:05 -05:00
parent 8fff821a87
commit 0ebaaa7439
7 changed files with 65 additions and 9 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -57,6 +57,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/PublishMap.h"
#include "rtabmap_ros/SetGoal.h"
#include "rtabmap_ros/SetLabel.h"
#include "rtabmap_ros/RemoveLabel.h"
#include "rtabmap_ros/Goal.h"
#include "rtabmap_ros/GetPlan.h"
#include "rtabmap_ros/CommonDataSubscriber.h"
@@ -232,6 +233,7 @@ private:
bool cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
bool removeLabelCallback(rtabmap_ros::RemoveLabel::Request& req, rtabmap_ros::RemoveLabel::Response& res);
bool addLinkCallback(rtabmap_ros::AddLink::Request&, rtabmap_ros::AddLink::Response&);
bool getNodesInRadiusCallback(rtabmap_ros::GetNodesInRadius::Request&, rtabmap_ros::GetNodesInRadius::Response&);
#ifdef WITH_OCTOMAP_MSGS
@@ -353,6 +355,7 @@ private:
ros::ServiceServer cancelGoalSrv_;
ros::ServiceServer setLabelSrv_;
ros::ServiceServer listLabelsSrv_;
ros::ServiceServer removeLabelSrv_;
ros::ServiceServer addLinkSrv_;
ros::ServiceServer getNodesInRadiusSrv_;
#ifdef WITH_OCTOMAP_MSGS