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Added add_link service and external_loop_detection_example node

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matlabbe
2020-02-11 23:36:56 -05:00
parent 354e362673
commit 231418e098
7 changed files with 196 additions and 4 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -58,6 +58,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/GetPlan.h"
#include "rtabmap_ros/CommonDataSubscriber.h"
#include "rtabmap_ros/OdomInfo.h"
#include "rtabmap_ros/AddLink.h"
#include "MapsManager.h"
@@ -191,6 +192,7 @@ 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 addLinkCallback(rtabmap_ros::AddLink::Request&, rtabmap_ros::AddLink::Response&);
#ifdef WITH_OCTOMAP_MSGS
bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
@@ -297,6 +299,7 @@ private:
ros::ServiceServer cancelGoalSrv_;
ros::ServiceServer setLabelSrv_;
ros::ServiceServer listLabelsSrv_;
ros::ServiceServer addLinkSrv_;
#ifdef WITH_OCTOMAP_MSGS
ros::ServiceServer octomapBinarySrv_;
ros::ServiceServer octomapFullSrv_;