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Plumbing env_sensor topic to rtabmap

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matlabbe
2025-11-11 23:56:08 +00:00
parent 515eb50d83
commit 2f258bdae0
7 changed files with 102 additions and 18 deletions
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rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+4 -1
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@@ -68,6 +68,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_msgs/DetectMoreLoopClosures.h"
#include "rtabmap_msgs/GlobalBundleAdjustment.h"
#include "rtabmap_msgs/CleanupLocalGrids.h"
#include "rtabmap_msgs/EnvSensor.h"
#include "rtabmap_util/MapsManager.h"
#include "rtabmap_util/ULogToRosout.h"
@@ -161,6 +162,7 @@ private:
void userDataAsyncCallback(const rtabmap_msgs::UserDataConstPtr & dataMsg);
void globalPoseAsyncCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg);
void gpsFixAsyncCallback(const sensor_msgs::NavSatFixConstPtr & gpsFixMsg);
void envSensorCallback(const rtabmap_msgs::EnvSensorConstPtr & envSensorMsg);
#ifdef WITH_APRILTAG_ROS
void tagDetectionsAsyncCallback(const apriltag_ros::AprilTagDetectionArray & tagDetections);
#endif
@@ -372,12 +374,13 @@ private:
ros::Subscriber userDataAsyncSub_;
cv::Mat userData_;
UMutex userDataMutex_;
ros::Subscriber globalPoseAsyncSub_;
geometry_msgs::PoseWithCovarianceStamped globalPose_;
ros::Subscriber gpsFixAsyncSub_;
rtabmap::GPS gps_;
ros::Subscriber envSensorSub_;
rtabmap::EnvSensors envSensors_;
ros::Subscriber tagDetectionsSub_;
ros::Subscriber fiducialTransfromsSub_;
std::map<int, std::pair<geometry_msgs::PoseWithCovarianceStamped, float> > tags_; // id, <pose, size>