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ros-pkg: Added ResetPose.srv for odometry service "reset_odom_to_pose" to set intialial pose. Updated some method interfaces with latest library changes from trunk.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1931 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-28 01:23:52 +00:00
parent b3933881ce
commit 52c6bd60eb
10 changed files with 68 additions and 20 deletions
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src/OdometryROS.h
+3
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@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <std_srvs/Empty.h>
#include <std_msgs/Header.h>
#include <rtabmap/ResetPose.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
@@ -53,6 +54,7 @@ public:
Transform processData(SensorData & data, const std_msgs::Header & header, int & quality);
bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resetToPose(rtabmap::ResetPose::Request&, rtabmap::ResetPose::Response&);
bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
@@ -77,6 +79,7 @@ private:
ros::Publisher odomLastFrame_;
ros::Publisher odomMatches_;
ros::ServiceServer resetSrv_;
ros::ServiceServer resetToPoseSrv_;
ros::ServiceServer pauseSrv_;
ros::ServiceServer resumeSrv_;
tf::TransformBroadcaster tfBroadcaster_;