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Updated for RTAB-Map 0.18 (saving full scan info)

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matlabbe
2018-10-24 06:37:15 +12:00
parent bc53af5bbb
commit 2b8edffc85
5 changed files with 98 additions and 58 deletions
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src/MsgConversion.cpp
+1 -1
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@@ -936,7 +936,7 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
point3fToROS(signature.sensorData().gridViewPoint(), msg.grid_view_point);
msg.grid_cell_size = signature.sensorData().gridCellSize();
msg.laserScanMaxPts = signature.sensorData().laserScanCompressed().maxPoints();
msg.laserScanMaxRange = signature.sensorData().laserScanCompressed().maxRange();
msg.laserScanMaxRange = signature.sensorData().laserScanCompressed().rangeMax();
msg.laserScanFormat = signature.sensorData().laserScanCompressed().format();
transformToGeometryMsg(signature.sensorData().laserScanCompressed().localTransform(), msg.laserScanLocalTransform);
msg.baseline = 0;