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rtabmapviz: labels can be shown in rtabmapviz and labels can be set from the gui

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matlabbe
2015-07-26 15:59:40 -04:00
parent 477ed8d494
commit 290ea88761
2 changed files with 12 additions and 1 deletions
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CMakeLists.txt
+1 -1
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@@ -17,7 +17,7 @@ find_package(octomap_ros)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.10.1 REQUIRED)
find_package(RTABMap 0.10.2 REQUIRED)
find_package(OpenCV REQUIRED)
src/GuiWrapper.cpp
+11
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@@ -54,6 +54,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/SetGoal.h"
#include "rtabmap_ros/SetLabel.h"
#include "PreferencesDialogROS.h"
@@ -379,6 +380,16 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
ROS_ERROR("Can't call \"cancel_goal\" service");
}
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdLabel)
{
rtabmap_ros::SetLabel setLabelSrv;
setLabelSrv.request.node_id = cmdEvent->getInt();
setLabelSrv.request.node_label = cmdEvent->getStr();
if(!ros::service::call("set_label", setLabelSrv))
{
ROS_ERROR("Can't call \"set_label\" service");
}
}
else
{
ROS_WARN("Not handled command (%d)...", cmd);