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Add rtabmap_msgs/SensorData (#1055)

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* Add rtabmap_msgs/SensorData

* After testing fixes

* Updated output topic name

* added explicit --logconsole for nodelets

* fixed intermediate nodes not generated

* Refactored SyncDiagnostic usage to handle nodelet name

* SyncDiagnostic: added TimeStampStatus. Odom: added new status when data not received yet

* rtabmap: Fixed parameters not updated when using nodelet
This commit is contained in:
matlabbe
2023-11-19 13:16:35 -08:00
committed by GitHub
parent 3801006832
commit 67de27b1ee
30 changed files with 1318 additions and 350 deletions
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rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
+15 -5
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@@ -55,7 +55,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_msgs/Point3f.h>
#include <rtabmap_msgs/MapData.h>
#include <rtabmap_msgs/MapGraph.h>
#include <rtabmap_msgs/NodeData.h>
#include <rtabmap_msgs/Node.h>
#include <rtabmap_msgs/OdomInfo.h>
#include <rtabmap_msgs/Info.h>
#include <rtabmap_msgs/RGBDImage.h>
@@ -162,11 +162,18 @@ void mapGraphToROS(
const rtabmap::Transform & mapToOdom,
rtabmap_msgs::MapGraph & msg);
rtabmap::Signature nodeDataFromROS(const rtabmap_msgs::NodeData & msg);
void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_msgs::NodeData & msg);
rtabmap::SensorData sensorDataFromROS(const rtabmap_msgs::SensorData & msg);
void sensorDataToROS(const rtabmap::SensorData & signature, rtabmap_msgs::SensorData & msg, const std::string & frameId = "base_link", bool copyRawData = false);
rtabmap::Signature nodeInfoFromROS(const rtabmap_msgs::NodeData & msg);
void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_msgs::NodeData & msg);
rtabmap::Signature nodeFromROS(const rtabmap_msgs::Node & msg);
void nodeToROS(const rtabmap::Signature & signature, rtabmap_msgs::Node & msg);
// DEPRECATED
rtabmap::Signature nodeDataFromROS(const rtabmap_msgs::Node & msg);
void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_msgs::Node & msg);
rtabmap::Signature nodeInfoFromROS(const rtabmap_msgs::Node & msg);
void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_msgs::Node & msg);
std::map<std::string, float> odomInfoToStatistics(const rtabmap::OdometryInfo & info);
rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_msgs::OdomInfo & msg, bool ignoreData = false);
@@ -175,6 +182,9 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_msgs::OdomInfo &
cv::Mat userDataFromROS(const rtabmap_msgs::UserData & dataMsg);
void userDataToROS(const cv::Mat & data, rtabmap_msgs::UserData & dataMsg, bool compress);
rtabmap::IMU imuFromROS(const sensor_msgs::Imu & msg, const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity());
void imuToROS(const rtabmap::IMU & imu, sensor_msgs::Imu & msg);
rtabmap::Landmarks landmarksFromROS(
const std::map<int, std::pair<geometry_msgs::PoseWithCovarianceStamped, float> > & tags,
const std::string & frameId,