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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/GuiWrapper.h
+12 -4
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@@ -25,6 +25,7 @@
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
@@ -48,8 +49,7 @@ protected:
virtual void handleEvent(UEvent * anEvent);
private:
void infoExReceivedCallback(const rtabmap::InfoExConstPtr & msg);
void mapDataReceivedCallback(const rtabmap::MapDataConstPtr & msg);
void infoMapCallback(const rtabmap::InfoExConstPtr & infoMsg, const rtabmap::MapDataConstPtr & mapMsg);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, int queueSize);
void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg); // odom
@@ -66,9 +66,9 @@ private:
const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg);
void processRequestedMap(const rtabmap::MapData & map);
private:
ros::Subscriber infoExTopic_;
ros::Subscriber mapDataTopic_;
QApplication * app_;
rtabmap::MainWindow * mainWindow_;
std::string cameraNodeName_;
@@ -77,6 +77,9 @@ private:
std::string frameId_;
tf::TransformListener tfListener_;
message_filters::Subscriber<rtabmap::InfoEx> infoExTopic_;
message_filters::Subscriber<rtabmap::MapData> mapDataTopic_;
ros::Subscriber defaultSub_; // odometry only
image_transport::SubscriberFilter imageSub_;
image_transport::SubscriberFilter imageDepthSub_;
@@ -84,6 +87,11 @@ private:
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
typedef message_filters::sync_policies::ExactTime<
rtabmap::InfoEx,
rtabmap::MapData> MyInfoMapSyncPolicy;
message_filters::Synchronizer<MyInfoMapSyncPolicy> * infoMapSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,
nav_msgs::Odometry,