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0.11.10: Updated LaserScanInfo interface. Updated NodeData msg with occupancy grids and laser scan local transform. MapsManager is now using directly the occupancy grids saved in nodes for 3D cloud, octomap and grid map.

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This commit is contained in:
matlabbe
2016-08-31 12:45:54 -04:00
parent 7e8738685c
commit 2f6f874542
13 changed files with 800 additions and 912 deletions
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include/rtabmap_ros/CoreWrapper.h
+9 -2
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@@ -77,6 +77,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <actionlib_msgs/GoalStatusArray.h>
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
namespace rtabmap {
class StereoDense;
}
class CoreWrapper
{
public:
@@ -226,7 +230,8 @@ private:
bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
bool getMapDataCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
bool getMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
@@ -239,7 +244,7 @@ private:
bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
#endif
rtabmap::ParametersMap loadParameters(const std::string & configFile);
void loadParameters(const std::string & configFile, rtabmap::ParametersMap & parameters);
void saveParameters(const std::string & configFile);
void publishLoop(double tfDelay, double tfTolerance);
@@ -489,6 +494,7 @@ private:
ros::ServiceServer setLogErrorSrv_;
ros::ServiceServer getMapDataSrv_;
ros::ServiceServer getProjMapSrv_;
ros::ServiceServer getMapSrv_;
ros::ServiceServer getGridMapSrv_;
ros::ServiceServer publishMapDataSrv_;
ros::ServiceServer setGoalSrv_;
@@ -504,6 +510,7 @@ private:
boost::thread* transformThread_;
bool stereoToDepth_;
float rate_;
bool createIntermediateNodes_;
ros::Time time_;