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Updated OdomInfo msg to include inliers/outliers data, updated default launch files

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This commit is contained in:
Mathieu Labbe
2015-01-23 15:18:06 -05:00
parent 92c30adad8
commit 4ae2cedc00
11 changed files with 251 additions and 59 deletions
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src/GuiWrapper.h
+17 -1
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <ros/ros.h>
#include "rtabmap_ros/Info.h"
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/OdomInfo.h"
#include "rtabmap/utilite/UEventsHandler.h"
#include <tf/transform_listener.h>
@@ -71,12 +72,18 @@ protected:
private:
void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, int queueSize);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, bool subscribeOdomInfo, int queueSize);
void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg); // odom
void depthCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void depthOdomInfoCallback(
const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
const sensor_msgs::ImageConstPtr& depthMsg,
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
void depthScanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
@@ -103,6 +110,7 @@ private:
image_transport::SubscriberFilter imageDepthSub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
typedef message_filters::sync_policies::ExactTime<
@@ -124,6 +132,14 @@ private:
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthSyncPolicy;
message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,
nav_msgs::Odometry,
rtabmap_ros::OdomInfo,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthOdomInfoSyncPolicy;
message_filters::Synchronizer<MyDepthOdomInfoSyncPolicy> * depthOdomInfoSync_;
};
#endif /* GUIWRAPPER_H_ */