i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-08 02:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

merged master->ros2

Browse Source
This commit is contained in:
matlabbe
2023-11-19 17:14:24 -08:00
parent 76e83081a7 67de27b1ee
commit 399fb33310
31 changed files with 1148 additions and 295 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
+15 -5
View File
@@ -55,7 +55,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_msgs/msg/point3f.hpp>
#include <rtabmap_msgs/msg/map_data.hpp>
#include <rtabmap_msgs/msg/map_graph.hpp>
#include <rtabmap_msgs/msg/node_data.hpp>
#include <rtabmap_msgs/msg/node.hpp>
#include <rtabmap_msgs/msg/odom_info.hpp>
#include <rtabmap_msgs/msg/info.hpp>
#include <rtabmap_msgs/msg/rgbd_image.hpp>
@@ -162,11 +162,18 @@ void mapGraphToROS(
const rtabmap::Transform & mapToOdom,
rtabmap_msgs::msg::MapGraph & msg);
rtabmap::Signature nodeDataFromROS(const rtabmap_msgs::msg::NodeData & msg);
void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::NodeData & msg);
rtabmap::SensorData sensorDataFromROS(const rtabmap_msgs::msg::SensorData & msg);
void sensorDataToROS(const rtabmap::SensorData & signature, rtabmap_msgs::msg::SensorData & msg, const std::string & frameId = "base_link", bool copyRawData = false);
rtabmap::Signature nodeInfoFromROS(const rtabmap_msgs::msg::NodeData & msg);
void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::NodeData & msg);
rtabmap::Signature nodeFromROS(const rtabmap_msgs::msg::Node & msg);
void nodeToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::Node & msg);
// DEPRECATED
rtabmap::Signature nodeDataFromROS(const rtabmap_msgs::msg::Node & msg);
void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::Node & msg);
rtabmap::Signature nodeInfoFromROS(const rtabmap_msgs::msg::Node & msg);
void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::Node & msg);
std::map<std::string, float> odomInfoToStatistics(const rtabmap::OdometryInfo & info);
rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_msgs::msg::OdomInfo & msg, bool ignoreData = false);
@@ -175,6 +182,9 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_msgs::msg::OdomIn
cv::Mat userDataFromROS(const rtabmap_msgs::msg::UserData & dataMsg);
void userDataToROS(const cv::Mat & data, rtabmap_msgs::msg::UserData & dataMsg, bool compress);
rtabmap::IMU imuFromROS(const sensor_msgs::msg::Imu & msg, const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity());
void imuToROS(const rtabmap::IMU & imu, sensor_msgs::msg::Imu & msg);
rtabmap::Landmarks landmarksFromROS(
const std::map<int, std::pair<geometry_msgs::msg::PoseWithCovarianceStamped, float> > & tags,
const std::string & frameId,