i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 18:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Plumbing env_sensor topic to rtabmap

Browse Source
This commit is contained in:
matlabbe
2025-11-11 23:56:08 +00:00
parent 515eb50d83
commit 2f258bdae0
7 changed files with 102 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_demos/src/WifiSignalPubNode.cpp
+16 -2
View File
@@ -34,14 +34,20 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_conversions/MsgConversion.h>
#include <rtabmap_msgs/UserData.h>
#include <rtabmap_msgs/EnvSensor.h>
// Demo:
// Demo 1 (User Data):
// $ roslaunch freenect_launch freenect.launch depth_registration:=true
// $ roslaunch rtabmap_launch rtabmap.launch rtabmap_args:="--delete_db_on_start" user_data_async_topic:=/wifi_signal rtabmapviz:=false rviz:=true
// $ roslaunch rtabmap_launch rtabmap.launch rtabmap_args:="--delete_db_on_start" user_data_async_topic:=/wifi_signal rtabmap_viz:=false rviz:=true
// $ rosrun rtabmap_demos wifi_signal_pub interface:="wlan0"
// $ rosrun rtabmap_demos wifi_signal_sub
// In RVIZ add PointCloud2 "wifi_signals"
// Demo 2 (Env Sensor):
// $ roslaunch freenect_launch freenect.launch depth_registration:=true
// $ roslaunch rtabmap_launch rtabmap.launch rtabmap_args:="--delete_db_on_start" env_sensor_topic:=/wifi_signal/env_sensor rtabmap_viz:=false rviz:=true
// $ rosrun rtabmap_demos wifi_signal_pub interface:="wlan0"
// A percentage value that represents the signal quality
// of the network. WLAN_SIGNAL_QUALITY is of type ULONG.
// This member contains a value between 0 and 100. A value
@@ -78,6 +84,7 @@ int main(int argc, char** argv)
ros::Rate rate(rateHz);
ros::Publisher wifiPub = nh.advertise<rtabmap_msgs::UserData>("wifi_signal", 1);
ros::Publisher envSensorPub = nh.advertise<rtabmap_msgs::EnvSensor>("wifi_signal/env_sensor", 1);
while(ros::ok())
{
@@ -140,6 +147,13 @@ int main(int argc, char** argv)
dataMsg.header.stamp = stamp;
rtabmap_conversions::userDataToROS(data, dataMsg, false);
wifiPub.publish<rtabmap_msgs::UserData>(dataMsg);
// Example with env sensor
rtabmap_msgs::EnvSensor envMsg;
envMsg.header = dataMsg.header;
envMsg.type = rtabmap_msgs::EnvSensor::TYPE_WIFI_SIGNAL_STRENGTH;
envMsg.value = double(dBm);
envSensorPub.publish<rtabmap_msgs::EnvSensor>(envMsg);
}
ros::spinOnce();
rate.sleep();