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Added imu input topic to rtabmap node. Updated for rtabmap 0.19.3.

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matlabbe
2019-05-31 19:35:49 -04:00
parent 2eb8ba1be1
commit 48bcda84ab
8 changed files with 223 additions and 339 deletions
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include/rtabmap_ros/CoreWrapper.h
+5 -1
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@@ -43,6 +43,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <nav_msgs/GetMap.h>
#include <nav_msgs/GetPlan.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <sensor_msgs/Imu.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Rtabmap.h>
@@ -141,6 +142,7 @@ private:
#ifdef WITH_APRILTAGS2_ROS
void tagDetectionsAsyncCallback(const apriltags2_ros::AprilTagDetectionArray & tagDetections);
#endif
void imuAsyncCallback(const sensor_msgs::ImuConstPtr & tagDetections);
void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg);
@@ -156,7 +158,7 @@ private:
void process(
const ros::Time & stamp,
const rtabmap::SensorData & data,
rtabmap::SensorData & data,
const rtabmap::Transform & odom = rtabmap::Transform(),
const std::string & odomFrameId = "",
const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
@@ -315,6 +317,8 @@ private:
rtabmap::GPS gps_;
ros::Subscriber tagDetectionsSub_;
std::map<int, geometry_msgs::PoseWithCovarianceStamped> tags_;
ros::Subscriber imuSub_;
std::map<double, rtabmap::Transform> imus_;
bool stereoToDepth_;
bool odomSensorSync_;