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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_util/src/MapAssemblerNode.cpp
+4 -4
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@@ -257,11 +257,11 @@ public:
rtabmap_conversions::mapGraphFromROS(msg.graph, poses, constraints, mapOdom);
for(unsigned int i=0; i<msg.nodes.size(); ++i)
{
if(msg.nodes[i].image.size() ||
msg.nodes[i].depth.size() ||
msg.nodes[i].laserScan.size())
if(msg.nodes[i].data.left_compressed.size() ||
msg.nodes[i].data.right_compressed.size() ||
msg.nodes[i].data.laser_scan_compressed.size())
{
Signature data = rtabmap_conversions::nodeDataFromROS(msg.nodes[i]);
Signature data = rtabmap_conversions::nodeFromROS(msg.nodes[i]);
if(localGridsRegenerated_)
{
data.sensorData().setOccupancyGrid(cv::Mat(), cv::Mat(), cv::Mat(), 0, cv::Point3f());