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0.17.5: added grid_prob_map topic (ref #269)

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matlabbe
2018-08-16 14:43:54 -04:00
parent 5e6796d1cd
commit 5660442565
6 changed files with 134 additions and 38 deletions
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include/rtabmap_ros/CoreWrapper.h
+2
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@@ -151,6 +151,7 @@ private:
bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool getMapDataCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
bool getMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getProbMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
@@ -247,6 +248,7 @@ private:
ros::ServiceServer getMapDataSrv_;
ros::ServiceServer getProjMapSrv_;
ros::ServiceServer getMapSrv_;
ros::ServiceServer getProbMapSrv_;
ros::ServiceServer getGridMapSrv_;
ros::ServiceServer publishMapDataSrv_;
ros::ServiceServer getPlanSrv_;
include/rtabmap_ros/MapsManager.h
+6
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@@ -74,6 +74,11 @@ public:
float & yMin,
float & gridCellSize);
cv::Mat getGridProbMap(
float & xMin,
float & yMin,
float & gridCellSize);
const rtabmap::OctoMap * getOctomap() const {return octomap_;}
const rtabmap::OccupancyGrid * getOccupancyGrid() const {return occupancyGrid_;}
@@ -93,6 +98,7 @@ private:
ros::Publisher cloudObstaclesPub_;
ros::Publisher projMapPub_;
ros::Publisher gridMapPub_;
ros::Publisher gridProbMapPub_;
ros::Publisher scanMapPub_;
ros::Publisher octoMapPubBin_;
ros::Publisher octoMapPubFull_;