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Update 0.15.4.

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rgbd_sync and rtabmap.launch: added depth_scale parameter.
Updated OdomInfo msg with memoryUsage field.
CoreWrapper: supporting GridGlobal/MaxNodes parameter, added "RtabmapROS" statistics.
MapsManager: updated when occupancy grid is updated.
This commit is contained in:
matlabbe
2018-02-01 22:16:13 -05:00
parent ab305af23e
commit 20c5211143
10 changed files with 200 additions and 37 deletions
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launch/rtabmap.launch
+5 -3
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@@ -45,8 +45,8 @@
<arg name="args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<arg name="output" default="screen"/> <!--Control node output (screen or log)-->
<arg name="output" default="screen"/> <!-- Control node output (screen or log) -->
<!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
<arg if="$(arg stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg stereo)" name="approx_sync" default="true"/>
@@ -68,6 +68,7 @@
<arg name="approx_rgbd_sync" default="true"/> <!-- false=exact synchronization -->
<arg name="subscribe_rgbd" default="$(arg rgbd_sync)"/>
<arg name="rgbd_topic" default="rgbd_image" />
<arg name="depth_scale" default="1.0" />
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
@@ -125,6 +126,7 @@
<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="depth_scale" type="double" value="$(arg depth_scale)"/>
</node>
<!-- Visual odometry -->
@@ -291,7 +293,7 @@
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="2"/>
<param name="voxel_size" type="double" value="0.0"/>
<param name="voxel_size" type="double" value="0.02"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
</node>