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Split librtabmap_ros.so in to 3 libraries to decrease compilation time. Added scan-only common subscribers.

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matlabbe
2018-11-14 17:51:47 -05:00
parent adcaa98cec
commit 2ac46c983a
13 changed files with 928 additions and 48 deletions
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launch/tests/test_rtabmap_nodelets.launch
+3
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@@ -42,6 +42,9 @@
<!-- Visualisation -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
</node>
</group>