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rtabmap_viz: Added subscribe_info_only parameter (to subscribe only to rtabmap's info message.)

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matlabbe
2023-06-16 16:32:01 -07:00
parent 1a87f1598d
commit 4cbdb2d14b
2 changed files with 49 additions and 7 deletions
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rtabmap_viz/include/rtabmap_viz/GuiWrapper.h
+2
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@@ -65,6 +65,7 @@ protected:
private:
void infoMapCallback(const rtabmap_msgs::InfoConstPtr & infoMsg, const rtabmap_msgs::MapDataConstPtr & mapMsg);
void infoCallback(const rtabmap_msgs::InfoConstPtr & infoMsg);
void goalPathCallback(const rtabmap_msgs::GoalConstPtr & goalMsg, const nav_msgs::PathConstPtr & pathMsg);
void goalReachedCallback(const std_msgs::BoolConstPtr & value);
@@ -133,6 +134,7 @@ private:
message_filters::Subscriber<rtabmap_msgs::Info> infoTopic_;
message_filters::Subscriber<rtabmap_msgs::MapData> mapDataTopic_;
ros::Subscriber infoOnlyTopic_;
message_filters::Subscriber<rtabmap_msgs::Goal> goalTopic_;
message_filters::Subscriber<nav_msgs::Path> pathTopic_;