rtabmap: don't assert on invalid tags, just print error. Added "landmarks" topic (type geometry_msg::PoseArray) and added landmark ids in labels MarkerArray.

2026-10-04 00:37:46 +08:00 · 2019-02-04 18:26:44 -05:00
parent 171c4c854e
commit 3c01661e07
3 changed files with 138 additions and 18 deletions
@@ -243,6 +243,7 @@ private:
 	ros::Publisher infoPub_;
 	ros::Publisher mapDataPub_;
 	ros::Publisher mapGraphPub_;
+	ros::Publisher landmarksPub_;
 	ros::Publisher labelsPub_;
 	ros::Publisher mapPathPub_;
 	ros::Publisher localizationPosePub_;