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rtabmap: added getPlan service

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matlabbe
2018-07-09 14:53:21 -04:00
parent 739923694c
commit 23f661827a
3 changed files with 73 additions and 1 deletions
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include/rtabmap_ros/CoreWrapper.h
+3
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@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <std_msgs/Empty.h>
#include <std_msgs/Int32.h>
#include <nav_msgs/GetMap.h>
#include <nav_msgs/GetPlan.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <rtabmap/core/Parameters.h>
@@ -153,6 +154,7 @@ private:
bool getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
bool getPlanCallback(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res);
bool setGoalCallback(rtabmap_ros::SetGoal::Request& req, rtabmap_ros::SetGoal::Response& res);
bool cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
@@ -247,6 +249,7 @@ private:
ros::ServiceServer getMapSrv_;
ros::ServiceServer getGridMapSrv_;
ros::ServiceServer publishMapDataSrv_;
ros::ServiceServer getPlanSrv_;
ros::ServiceServer setGoalSrv_;
ros::ServiceServer cancelGoalSrv_;
ros::ServiceServer setLabelSrv_;