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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/GuiWrapper.cpp
+12 -6
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@@ -429,7 +429,8 @@ void GuiWrapper::depthCallback(
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
odomMsg->header.seq);
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
this->post(new OdometryEvent(image));
}
@@ -487,7 +488,8 @@ void GuiWrapper::depthOdomInfoCallback(
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
odomMsg->header.seq);
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
OdometryInfo info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg);
this->post(new OdometryEvent(image, info));
}
@@ -556,7 +558,8 @@ void GuiWrapper::depthScanCallback(
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
odomMsg->header.seq);
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
this->post(new OdometryEvent(image));
}
@@ -648,7 +651,8 @@ void GuiWrapper::stereoScanCallback(
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
odomMsg->header.seq);
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
this->post(new OdometryEvent(image));
}
@@ -730,7 +734,8 @@ void GuiWrapper::stereoOdomInfoCallback(
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
odomMsg->header.seq);
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
OdometryInfo info = rtabmap_ros::odomInfoFromROS(*odomInfoMsg);
this->post(new OdometryEvent(image, info));
}
@@ -812,7 +817,8 @@ void GuiWrapper::stereoCallback(
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
odomMsg->header.seq);
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
this->post(new OdometryEvent(image));
}