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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_util/include/rtabmap_util/db_player.hpp
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@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <tf2_ros/transform_broadcaster.h>
#include <rtabmap_msgs/msg/rgbd_image.hpp>
#include <rtabmap_msgs/msg/env_sensor.hpp>
#include <rtabmap/core/DBReader.h>
#include <rtabmap/core/OdometryEvent.h>
@@ -88,6 +89,7 @@ private:
int qosGlobalPose_;
int qosGps_;
int qosImu_;
int qosEnvSensor_;
double scanAngleMin_;
double scanAngleMax_;
double scanAngleIncrement_;
@@ -112,6 +114,7 @@ private:
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr scanCloudPub_;
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr globalPosePub_;
rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr gpsFixPub_;
rclcpp::Publisher<rtabmap_msgs::msg::EnvSensor>::SharedPtr envSensorPub_;
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imuPub_;
rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr clockPub_;
std::shared_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_;