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Added /gps/fix input topic, data_player can also publish GPS and global poses if they are set in database

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matlabbe
2018-10-24 08:53:44 +12:00
parent 2b8edffc85
commit 575af5c5a1
4 changed files with 136 additions and 0 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <std_msgs/Empty.h>
#include <std_msgs/Int32.h>
#include <sensor_msgs/NavSatFix.h>
#include <nav_msgs/GetMap.h>
#include <nav_msgs/GetPlan.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
@@ -121,6 +122,7 @@ private:
void userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & dataMsg);
void globalPoseAsyncCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg);
void gpsFixAsyncCallback(const sensor_msgs::NavSatFixConstPtr & gpsFixMsg);
void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg);
@@ -282,6 +284,8 @@ private:
ros::Subscriber globalPoseAsyncSub_;
geometry_msgs::PoseWithCovarianceStamped globalPose_;
ros::Subscriber gpsFixAsyncSub_;
rtabmap::GPS gps_;
bool stereoToDepth_;
bool odomSensorSync_;