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Updated to RTAB-Map 0.8.5: Added node labeling service, and set goal by label

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This commit is contained in:
Mathieu Labbe
2015-02-27 15:26:30 -05:00
parent 6020b60926
commit 235c103f70
13 changed files with 118 additions and 32 deletions
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src/CoreWrapper.h
+4
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@@ -56,6 +56,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/PublishMap.h"
#include "rtabmap_ros/SetGoal.h"
#include "rtabmap_ros/SetLabel.h"
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
@@ -163,6 +164,7 @@ private:
void process(
int id,
const ros::Time & stamp,
const cv::Mat & image,
const rtabmap::Transform & odom = rtabmap::Transform(),
const std::string & odomFrameId = "",
@@ -188,6 +190,7 @@ private:
bool getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
bool setGoalCallback(rtabmap_ros::SetGoal::Request& req, rtabmap_ros::SetGoal::Response& res);
bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
@@ -372,6 +375,7 @@ private:
ros::ServiceServer getGridMapSrv_;
ros::ServiceServer publishMapDataSrv_;
ros::ServiceServer setGoalSrv_;
ros::ServiceServer setLabelSrv_;
ros::ServiceServer octomapBinarySrv_;
ros::ServiceServer octomapFullSrv_;