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Plan: ignore rotation if not set in request (#406), use /map frame as default if not set in request

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matlabbe
2020-06-02 11:13:02 -04:00
parent 250a56f741
commit 2fcb289894
3 changed files with 20 additions and 20 deletions
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include/rtabmap_ros/MsgConversion.h
+1 -1
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@@ -70,7 +70,7 @@ void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs:
rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg);
void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg);
rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg, bool ignoreRotationIfNotSet = false);
void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb, cv_bridge::CvImagePtr & depth);
void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);