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Merge branch 'ros2' of github.com:introlab/rtabmap_ros into jazzy-devel

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matlabbe
2025-02-12 19:49:06 -08:00
parent 01ef7b862c a4dafb6ba5
commit 5723507617
18 changed files with 148 additions and 103 deletions
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rtabmap_conversions/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_conversions</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_conversions/src/MsgConversion.cpp
+49
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@@ -3058,6 +3058,25 @@ bool deskew_impl(
}
}
if(secFirst > 1.e18)
{
// convert nanoseconds to seconds
secFirst /= 1.e9;
secLast /= 1.e9;
}
else if(secFirst > 1.e15)
{
// convert microseconds to seconds
secFirst /= 1.e6;
secLast /= 1.e6;
}
else if(secFirst > 1.e12)
{
// convert milliseconds to seconds
secFirst /= 1.e3;
secLast /= 1.e3;
}
firstStamp = timestampToROS(secFirst);
lastStamp = timestampToROS(secLast);
}
@@ -3196,6 +3215,21 @@ bool deskew_impl(
else if(timeDatatype == 8) //float64
{
double sec = *((const double*)(&output.data[u*output.point_step]+offsetTime));
if(sec > 1.e18)
{
// convert nanoseconds to seconds
sec /= 1.e9;
}
else if(sec > 1.e15)
{
// convert microseconds to seconds
sec /= 1.e6;
}
else if(sec > 1.e12)
{
// sec milliseconds to seconds
sec /= 1.e3;
}
stamp = timestampToROS(sec);
}
@@ -3275,6 +3309,21 @@ bool deskew_impl(
else if(timeDatatype == 8)
{
double sec = *((const double*)(&output.data[v*output.row_step]+offsetTime));
if(sec > 1.e18)
{
// convert nanoseconds to seconds
sec /= 1.e9;
}
else if(sec > 1.e15)
{
// convert microseconds to seconds
sec /= 1.e6;
}
else if(sec > 1.e12)
{
// sec milliseconds to seconds
sec /= 1.e3;
}
stamp = timestampToROS(sec);
}
rtabmap_demos/README.md
+43 -72
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@@ -1,101 +1,72 @@
# rtabmap_demos
- [rtabmap_demos](#rtabmap-demos)
+ [Outdoor Stereo VSLAM](#outdoor-stereo-vslam)
+ [Indoor 2D LiDAR and RGB-D SLAM](#indoor-2d-lidar-and-rgb-d-slam)
+ [Multi-Session Indoor 2D LiDAR and RGB-D SLAM](#multi-session-indoor-2d-lidar-and-rgb-d-slam)
+ [Find-Object with SLAM](#find-object-with-slam)
+ [Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot4-nav2--2d-lidar-and-rgb-d-slam)
+ [Turtlebot3 Nav2 and 2D LiDAR SLAM](#turtlebot3-nav2-and-2d-lidar-slam)
+ [Turtlebot3 Nav2 and RGB-D SLAM](#turtlebot3-nav2-and-rgb-d-slam)
+ [Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2--2d-lidar-and-rgb-d-slam)
+ [Champ Quadruped Nav2, Elevation Map and VSLAM](#champ-quadruped-nav2--elevation-map-and-vslam)
+ [Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM](#clearpath-husky-nav2--2d-lidar-and-rgb-d-slam)
+ [Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM](#clearpath-husky-nav2--3d-lidar-and-rgb-d-slam)
+ [Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM](#clearpath-husky-nav2--3d-lidar-assembling-and-rgb-d-slam)
+ [Isaac Sim Nav2 and Stereo SLAM](#isaac-sim-nav2-and-stereo-slam)
+ [Isaac Sim Nav2 and RGB-D VSLAM](#isaac-sim-nav2-and-rgb-d-vslam)
+ [Outdoor Stereo VSLAM](#outdoor-stereo-vslam)
+ [Indoor 2D LiDAR and RGB-D SLAM](#indoor-2d-lidar-and-rgb-d-slam)
+ [Multi-Session Indoor 2D LiDAR and RGB-D SLAM](#multi-session-indoor-2d-lidar-and-rgb-d-slam)
+ [Find-Object with SLAM](#find-object-with-slam)
+ [Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot4-nav2-2d-lidar-and-rgb-d-slam)
+ [Turtlebot3 Nav2 and 2D LiDAR SLAM](#turtlebot3-nav2-and-2d-lidar-slam)
+ [Turtlebot3 Nav2 and RGB-D SLAM](#turtlebot3-nav2-and-rgb-d-slam)
+ [Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM](#turtlebot3-nav2-2d-lidar-and-rgb-d-slam)
+ [Champ Quadruped Nav2, Elevation Map and VSLAM](#champ-quadruped-nav2-elevation-map-and-vslam)
+ [Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-2d-lidar-and-rgb-d-slam)
+ [Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM](#clearpath-husky-nav2-3d-lidar-and-rgb-d-slam)
+ [Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM](#clearpath-husky-nav2-3d-lidar-assembling-and-rgb-d-slam)
+ [Isaac Sim Nav2 and Stereo SLAM](#isaac-sim-nav2-and-stereo-slam)
+ [Isaac Sim Nav2 and RGB-D VSLAM](#isaac-sim-nav2-and-rgb-d-vslam)
### Outdoor Stereo VSLAM
```
ros2 launch rtabmap_demos stereo_outdoor_demo.launch.py
```
[stereo_outdoor_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/stereo_outdoor_demo.launch.py)
![Peek 2024-11-29 10-52](https://github.com/user-attachments/assets/b6dd4a1c-5bd5-4cfa-936d-e8e707bbcb23)
### Indoor 2D LiDAR and RGB-D SLAM
```
ros2 launch rtabmap_demos robot_mapping_demo.launch.py rviz:=true rtabmap_viz:=true
```
[robot_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/robot_mapping_demo.launch.py)
![Peek 2024-11-29 11-07](https://github.com/user-attachments/assets/b02beeea-28ed-4fde-932d-c89bef1a046d)
### Multi-Session Indoor 2D LiDAR and RGB-D SLAM
```
ros2 launch rtabmap_demos multisession_mapping_demo.launch.py
```
[multisession_mapping_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/multisession_mapping_demo.launch.py)
![Peek 2024-11-29 11-48](https://github.com/user-attachments/assets/b130e5ab-618f-4c8b-840f-f926b65ab53b)
### Find-Object with SLAM
```
ros2 launch rtabmap_demos find_object_demo.launch.py
```
[find_object_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/find_object_demo.launch.py)
![Peek 2024-11-29 12-01](https://github.com/user-attachments/assets/b3cc0c67-517a-4f69-b4cc-35d288e96165)
### Turtlebot4 Nav2, 2D LiDAR and RGB-D SLAM
```
ros2 launch rtabmap_demos turtlebot4_sim_demo.launch.py
```
[turtlebot4_sim_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot4/turtlebot4_sim_demo.launch.py)
![Peek 2024-11-29 12-19](https://github.com/user-attachments/assets/5914e34c-19f1-4b7c-b4df-2e7084946888)
### Turtlebot3 Nav2 and 2D LiDAR SLAM
```
ros2 launch rtabmap_demos turtlebot3_sim_scan_demo.launch.py
```
[turtlebot3_sim_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_scan_demo.launch.py)
![Peek 2024-11-29 12-23](https://github.com/user-attachments/assets/e3c31c5a-5c46-4370-ad17-38c795db7917)
### Turtlebot3 Nav2 and RGB-D SLAM
```
ros2 launch rtabmap_demos turtlebot3_sim_rgbd_demo.launch.py
```
[turtlebot3_sim_rgbd_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_demo.launch.py)
![Peek 2024-11-29 14-22](https://github.com/user-attachments/assets/5088be17-0875-42cc-b863-d14468c67f26)
### Turtlebot3 Nav2, 2D LiDAR and RGB-D SLAM
```
ros2 launch rtabmap_demos turtlebot3_sim_rgbd_scan_demo.launch.py
```
[turtlebot3_sim_rgbd_scan_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/turtlebot3/turtlebot3_sim_rgbd_scan_demo.launch.py)
![Peek 2024-11-29 13-41](https://github.com/user-attachments/assets/2e878158-b1b6-48a4-801c-72cdb41b4783)
### Champ Quadruped Nav2, Elevation Map and VSLAM
```
ros2 launch rtabmap_demos champ_sim_vslam.launch.py
```
[champ_sim_vslam.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/champ/champ_sim_vslam.launch.py)
![Peek 2024-11-29 15-00](https://github.com/user-attachments/assets/d1a27c78-27bc-4901-82a7-59b5d24e6454)
### Clearpath Husky Nav2, 2D LiDAR and RGB-D SLAM
```
ros2 launch rtabmap_demos husky_sim_scan2d_demo.launch.py
```
[husky_sim_scan2d_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan2d_demo.launch.py)
![Peek 2024-11-29 15-30](https://github.com/user-attachments/assets/c8f79b86-253e-4c8e-ac7a-c26584f43fa4)
### Clearpath Husky Nav2, 3D LiDAR and RGB-D SLAM
```
ros2 launch rtabmap_demos husky_sim_scan3d_demo.launch.py
```
[husky_sim_scan3d_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan3d_demo.launch.py)
![Peek 2024-11-29 15-36](https://github.com/user-attachments/assets/a4b6e6ae-38ed-44da-bbfb-d3c30a301f9c)
### Clearpath Husky Nav2, 3D LiDAR Assembling and RGB-D SLAM
```
ros2 launch rtabmap_demos husky_sim_scan3d_assemble_demo.launch.py
```
[husky_sim_scan3d_assemble_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_sim_scan3d_assemble_demo.launch.py)
![Peek 2024-11-29 16-16](https://github.com/user-attachments/assets/b2235bd2-33d2-4c44-b6e9-9923a524632b)
### Isaac Sim Nav2 and Stereo SLAM
```
ros2 launch rtabmap_demos isaac_sim_vslam_demo.launch.py
```
![Peek 2024-11-29 17-49](https://github.com/user-attachments/assets/54cd0c82-aaed-47e5-911a-f286b6d2cc17)
[isaac_sim_vslam_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/isaac/isaac_sim_vslam_demo.launch.py)
![Peek 2024-11-29 17-49](https://github.com/user-attachments/assets/54cd0c82-aaed-47e5-911a-f286b6d2cc17)
### Isaac Sim Nav2 and RGB-D VSLAM
```
ros2 launch rtabmap_demos isaac_sim_vslam_demo.launch.py stereo:=false vo:=rtabmap
```
![Peek 2024-11-30 13-22](https://github.com/user-attachments/assets/240820c6-4dea-4cbf-9431-b4b3af695d51)
[isaac_sim_vslam_demo.launch.py](https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/isaac/isaac_sim_vslam_demo.launch.py) stereo:=false vo:=rtabmap
![Peek 2024-11-30 13-22](https://github.com/user-attachments/assets/240820c6-4dea-4cbf-9431-b4b3af695d51)
rtabmap_demos/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_demos</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's demo launch files.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_examples/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_examples</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's example launch files.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_launch/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_launch</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's main launch files.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_msgs/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_msgs</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's msgs package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_odom/include/rtabmap_odom/OdometryROS.h
+1
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@@ -162,6 +162,7 @@ private:
USemaphore dataReady_;
rtabmap::SensorData dataToProcess_;
std_msgs::msg::Header dataHeaderToProcess_;
bool bufferedDataToProcess_;
bool paused_;
int resetCountdown_;
rtabmap_odom/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_odom</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's odometry package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_odom/src/OdometryROS.cpp
+40 -17
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@@ -420,25 +420,36 @@ void OdometryROS::callbackIMU(const sensor_msgs::msg::Imu::SharedPtr msg)
double stamp = rtabmap_conversions::timestampFromROS(msg->header.stamp);
//RCLCPP_WARN(get_logger(), "Received imu: %f delay=%f", stamp, (now() - msg->header.stamp).seconds());
UScopeMutex m(imuMutex_);
if(!imuProcessed_ && imus_.empty())
{
rtabmap::Transform localTransform = rtabmap_conversions::getTransform(this->frameId(), msg->header.frame_id, msg->header.stamp, *tfBuffer_, waitForTransform_);
if(localTransform.isNull())
UScopeMutex m(imuMutex_);
if(!imuProcessed_ && imus_.empty())
{
RCLCPP_WARN(this->get_logger(), "Dropping imu data! A valid TF between %s and %s is required to initialize IMU.",
this->frameId().c_str(), msg->header.frame_id.c_str());
return;
rtabmap::Transform localTransform = rtabmap_conversions::getTransform(this->frameId(), msg->header.frame_id, msg->header.stamp, *tfBuffer_, waitForTransform_);
if(localTransform.isNull())
{
RCLCPP_WARN(this->get_logger(), "Dropping imu data! A valid TF between %s and %s is required to initialize IMU.",
this->frameId().c_str(), msg->header.frame_id.c_str());
return;
}
}
imus_.insert(std::make_pair(stamp, msg));
if(imus_.size() > 1000)
{
RCLCPP_WARN(this->get_logger(), "Dropping imu data!");
imus_.erase(imus_.begin());
}
}
imus_.insert(std::make_pair(stamp, msg));
if(imus_.size() > 1000)
if(dataMutex_.lockTry() == 0)
{
RCLCPP_WARN(this->get_logger(), "Dropping imu data!");
imus_.erase(imus_.begin());
if(bufferedDataToProcess_ && rtabmap_conversions::timestampFromROS(dataHeaderToProcess_.stamp) <= stamp)
{
bufferedDataToProcess_ = false;
dataReady_.release();
}
dataMutex_.unlock();
}
}
}
@@ -448,8 +459,14 @@ void OdometryROS::processData(SensorData & data, const std_msgs::msg::Header & h
//RCLCPP_WARN(get_logger(), "Received image: %f delay=%f", data.stamp(), (now() - header.stamp).seconds());
if(dataMutex_.lockTry() == 0)
{
if(bufferedDataToProcess_) {
RCLCPP_ERROR(this->get_logger(), "We didn't receive IMU newer than previous image (%f) and we just received a new image (%f). The previous image is dropped!",
rtabmap_conversions::timestampFromROS(dataHeaderToProcess_.stamp), rtabmap_conversions::timestampFromROS(header.stamp));
++droppedMsgs_;
}
dataToProcess_ = data;
dataHeaderToProcess_ = header;
bufferedDataToProcess_ = false;
dataReady_.release();
dataMutex_.unlock();
++processedMsgs_;
@@ -495,8 +512,9 @@ void OdometryROS::mainLoop()
if(waitIMUToinit_ && (imus_.empty() || imus_.rbegin()->first < rtabmap_conversions::timestampFromROS(header.stamp)))
{
RCLCPP_ERROR(this->get_logger(), "Make sure IMU is published faster than data rate! (last image stamp=%f and last imu stamp received=%f)",
RCLCPP_WARN(this->get_logger(), "Make sure IMU is published faster than data rate! (last image stamp=%f and last imu stamp received=%f). Buffering the image until an imu with same or greater stamp is received.",
data.stamp(), imus_.empty()?0:imus_.rbegin()->first);
bufferedDataToProcess_ = true;
return;
}
// process all imu data up to current image stamp (or just after so that underlying odom approach can do interpolation of imu at image stamp)
@@ -922,10 +940,9 @@ void OdometryROS::mainLoop()
"is %fs too old (>%fs, min_update_rate = %f Hz). Previous data stamp is %f while new data stamp is %f.",
rtabmap_conversions::timestampFromROS(header.stamp) - previousStamp_, 1.0/minUpdateRate_, minUpdateRate_, previousStamp_, rtabmap_conversions::timestampFromROS(header.stamp));
}
else
else if(--resetCurrentCount_>0)
{
RCLCPP_WARN(this->get_logger(), "Odometry lost! Odometry will be reset after next %d consecutive unsuccessful odometry updates...", resetCurrentCount_);
--resetCurrentCount_;
}
if(resetCurrentCount_ == 0 || tooOldPreviousData)
@@ -953,6 +970,11 @@ void OdometryROS::mainLoop()
odometry_->reset(tfPose);
}
}
// Keep resetting if the odometry cannot initialize in next updates (e.g., lack of features).
// This will make sure we keep updating to latest guess pose.
if(resetCurrentCount_ == 0) {
++resetCurrentCount_;
}
}
}
@@ -1149,6 +1171,7 @@ void OdometryROS::reset(const Transform & pose)
imuProcessed_ = false;
dataToProcess_ = SensorData();
dataHeaderToProcess_ = std_msgs::msg::Header();
bufferedDataToProcess_ = false;
imuMutex_.lock();
imus_.clear();
imuMutex_.unlock();
rtabmap_python/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_python</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's python package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_ros/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_ros</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>
RTAB-Map Stack
</description>
rtabmap_rviz_plugins/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_rviz_plugins</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's rviz plugins.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_slam/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_slam</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's SLAM package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_slam/src/CoreWrapper.cpp
+2 -1
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@@ -346,7 +346,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
}
// declare parameters
this->declare_parameter("is_rtabmap_paused", paused_);
paused_ = this->declare_parameter("is_rtabmap_paused", paused_);
if(paused_)
{
RCLCPP_WARN(get_logger(), "Node paused... don't forget to call service \"resume\" to start rtabmap.");
@@ -388,6 +388,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
char ** argv = new char*[argList.size()];
bool deleteDbOnStart = false;
deleteDbOnStart = this->declare_parameter("delete_db_on_start", deleteDbOnStart);
for(unsigned int i=0; i<argList.size(); ++i)
{
argv[i] = &argList[i].at(0);
rtabmap_sync/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_sync</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's synchronization package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_util/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_util</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's various useful nodes and nodelets.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
rtabmap_viz/package.xml
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rtabmap_viz</name>
<version>0.21.9</version>
<version>0.21.10</version>
<description>RTAB-Map's visualization package.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>