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ros: Added rtabmap/GetMap service, removed MapData from InfoEx msg

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1459 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-06 19:58:15 +00:00
parent 39cff6d0cb
commit 4d557e6a50
14 changed files with 455 additions and 675 deletions
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src/CoreWrapper.h
+4 -11
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@@ -30,6 +30,8 @@
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Rtabmap.h>
#include "rtabmap/GetMap.h"
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
@@ -74,13 +76,7 @@ private:
bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resumeRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool publishGlobalMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool publishLocalMapDataCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool publishGlobalGraphCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool publishLocalGraphCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
void publishMapData(bool global);
void publishGraph(bool global);
bool getMapCallback(rtabmap::GetMap::Request& req, rtabmap::GetMap::Response& rep);
rtabmap::ParametersMap loadParameters(const std::string & configFile);
void saveParameters(const std::string & configFile);
@@ -141,10 +137,7 @@ private:
ros::ServiceServer pauseSrv_;
ros::ServiceServer resumeSrv_;
ros::ServiceServer triggerNewMapSrv_;
ros::ServiceServer publishGlobalMapDataSrv_;
ros::ServiceServer publishLocalMapDataSrv_;
ros::ServiceServer publishGlobalGraphSrv_;
ros::ServiceServer publishLocalGraphSrv_;
ros::ServiceServer getMapDataSrv_;
boost::thread* transformThread_;