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rtabmap: Added load_database service to create or load a database without killing the node.

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matlabbe
2021-03-27 01:02:00 -04:00
parent e75d035d99
commit 1d06173fc8
4 changed files with 152 additions and 0 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -62,6 +62,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/OdomInfo.h"
#include "rtabmap_ros/AddLink.h"
#include "rtabmap_ros/GetNodesInRadius.h"
#include "rtabmap_ros/LoadDatabase.h"
#include "MapsManager.h"
@@ -192,6 +193,7 @@ private:
bool resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resumeRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool loadDatabaseCallback(rtabmap_ros::LoadDatabase::Request&, rtabmap_ros::LoadDatabase::Response&);
bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
@@ -307,6 +309,7 @@ private:
ros::ServiceServer resetSrv_;
ros::ServiceServer pauseSrv_;
ros::ServiceServer resumeSrv_;
ros::ServiceServer loadDatabaseSrv_;
ros::ServiceServer triggerNewMapSrv_;
ros::ServiceServer backupDatabase_;
ros::ServiceServer setModeLocalizationSrv_;