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rtabmap: Added inter_odom optional input topic (available only if Rtabmap/DetectionRate=0 and Rtabmap/CreateIntermediateNodes=true)

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matlabbe
2019-11-13 16:54:06 -05:00
parent c3d339e9fc
commit 547c3cbd76
2 changed files with 85 additions and 0 deletions
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include/rtabmap_ros/CoreWrapper.h
+3
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@@ -143,6 +143,7 @@ private:
void tagDetectionsAsyncCallback(const apriltag_ros::AprilTagDetectionArray & tagDetections);
#endif
void imuAsyncCallback(const sensor_msgs::ImuConstPtr & tagDetections);
void interOdomCallback(const nav_msgs::OdometryConstPtr & msg);
void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg);
@@ -319,6 +320,8 @@ private:
std::map<int, geometry_msgs::PoseWithCovarianceStamped> tags_;
ros::Subscriber imuSub_;
std::map<double, rtabmap::Transform> imus_;
ros::Subscriber interOdomSub_;
std::list<nav_msgs::Odometry> interOdoms_;
bool stereoToDepth_;
bool odomSensorSync_;