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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2025-11-11 18:32:18 -08:00
parent e245b7751e 2f258bdae0
commit 4b970c2ca0
6 changed files with 97 additions and 1 deletions
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rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+7
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@@ -69,6 +69,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_msgs/msg/info.hpp"
#include "rtabmap_msgs/msg/landmark_detection.hpp"
#include "rtabmap_msgs/msg/landmark_detections.hpp"
#include "rtabmap_msgs/msg/env_sensor.h"
#include "rtabmap_msgs/srv/get_nodes_in_radius.hpp"
#include "rtabmap_msgs/srv/load_database.hpp"
#include "rtabmap_msgs/srv/detect_more_loop_closures.hpp"
@@ -191,6 +192,7 @@ private:
void userDataAsyncCallback(const rtabmap_msgs::msg::UserData::SharedPtr dataMsg);
void globalPoseAsyncCallback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr globalPoseMsg);
void gpsFixAsyncCallback(const sensor_msgs::msg::NavSatFix::SharedPtr gpsFixMsg);
void envSensorAsyncCallback(const rtabmap_msgs::msg::EnvSensor::SharedPtr envSensorMsg);
void landmarkDetectionAsyncCallback(const rtabmap_msgs::msg::LandmarkDetection::SharedPtr landmarkDetection);
void landmarkDetectionsAsyncCallback(const rtabmap_msgs::msg::LandmarkDetections::SharedPtr landmarkDetections);
#ifdef WITH_APRILTAG_MSGS
@@ -445,6 +447,11 @@ private:
std::map<double, rtabmap::GPS> gps_;
UMutex gpsMutex_;
rclcpp::CallbackGroup::SharedPtr envSensorAsyncCallbackGroup_;
rclcpp::Subscription<rtabmap_msgs::msg::EnvSensor>::SharedPtr envSensorAsyncSub_;
rtabmap::EnvSensors envSensors_;
UMutex envSensorMutex_;
rclcpp::CallbackGroup::SharedPtr landmarkCallbackGroup_;
rclcpp::Subscription<rtabmap_msgs::msg::LandmarkDetection>::SharedPtr landmarkDetectionSub_;
rclcpp::Subscription<rtabmap_msgs::msg::LandmarkDetections>::SharedPtr landmarkDetectionsSub_;