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Added lidar_deskewing node and nodelet. Added "deskewing" option for icp_odometry. Updated velodyne and ouster examples with deskewing option. Added velodyne+T265 deskewing example.

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matlabbe
2022-10-16 21:36:11 -07:00
parent cf50e93195
commit 44bbaa2cef
15 changed files with 931 additions and 35 deletions
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CMakeLists.txt
+5
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@@ -263,6 +263,7 @@ SET(rtabmap_plugins_lib_src
src/nodelets/undistort_depth.cpp
src/nodelets/imu_to_tf.cpp
src/nodelets/rgbdx_sync.cpp
src/nodelets/lidar_deskewing.cpp
)
IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
@@ -386,6 +387,10 @@ add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
target_link_libraries(rtabmap_imu_to_tf ${Libraries})
set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
add_executable(rtabmap_lidar_deskewing src/LidarDeskewingNode.cpp)
target_link_libraries(rtabmap_lidar_deskewing ${Libraries})
set_target_properties(rtabmap_lidar_deskewing PROPERTIES OUTPUT_NAME "lidar_deskewing")
IF(NOT WIN32)
add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
target_link_libraries(rtabmap_wifi_signal_pub rtabmap_ros)