i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 01:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source
This commit is contained in:
matlabbe
2022-10-16 21:36:11 -07:00
parent cf50e93195
commit 44bbaa2cef
15 changed files with 931 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/OdometryROS.cpp
+9
View File
@@ -423,6 +423,15 @@ Transform OdometryROS::getTransform(const std::string & fromFrameId, const std::
return transform;
}
rtabmap::Transform OdometryROS::velocityGuess() const
{
if(odometry_)
{
return odometry_->getVelocityGuess();
}
return rtabmap::Transform();
}
void OdometryROS::callbackIMU(const sensor_msgs::ImuConstPtr& msg)
{
if(!this->isPaused())