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merged master->ros2

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matlabbe
2022-11-27 16:21:59 -08:00
parent ed248b4dbd 671c80dc3f
commit 5c3c269652
27 changed files with 1055 additions and 131 deletions
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src/OdometryROS.cpp
+9
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@@ -383,6 +383,15 @@ void OdometryROS::startWarningThread(const std::string & subscribedTopicsMsg, bo
});
}
rtabmap::Transform OdometryROS::velocityGuess() const
{
if(odometry_)
{
return odometry_->getVelocityGuess();
}
return rtabmap::Transform();
}
void OdometryROS::callbackIMU(const sensor_msgs::msg::Imu::SharedPtr msg)
{
if(!this->isPaused())