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ros-pkg: added publish_map service to rtabmap node. Updated demo_find_object.launch with higher icp2d constraints

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1645 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-08-13 19:25:44 +00:00
parent 4e3c30d8ed
commit 36c647e6fe
4 changed files with 187 additions and 1 deletions
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src/CoreWrapper.h
+2
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@@ -102,6 +102,7 @@ private:
bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool getMapCallback(rtabmap::GetMap::Request& req, rtabmap::GetMap::Response& rep);
bool publishMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
rtabmap::ParametersMap loadParameters(const std::string & configFile);
void saveParameters(const std::string & configFile);
@@ -165,6 +166,7 @@ private:
ros::ServiceServer setModeLocalizationSrv_;
ros::ServiceServer setModeMappingSrv_;
ros::ServiceServer getMapDataSrv_;
ros::ServiceServer publishMapDataSrv_;
boost::thread* transformThread_;