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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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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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src/CoreNode.cpp
+2 -3
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@@ -51,9 +51,8 @@ int main(int argc, char** argv)
else if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
{
rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
uInsert(parameters,
std::make_pair(rtabmap::Parameters::kRtabmapWorkingDirectory(),
UDirectory::homeDir()+"/.ros")); // change default to ~/.ros
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRGBDCreateOccupancyGrid(), "true")); // default true in ROS
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapWorkingDirectory(), UDirectory::homeDir()+"/.ros")); // change default to ~/.ros
if(strcmp(argv[i], "--params") == 0)
{