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updated rtabmap ros-pkg name to rtabmap_ros

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This commit is contained in:
Mathieu Labbe
2014-11-25 17:13:15 -05:00
parent a4a6272df7
commit 68c23a709e
26 changed files with 82 additions and 83 deletions
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src/CameraNode.cpp
+1 -1
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@@ -44,7 +44,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UFile.h>
#include <dynamic_reconfigure/server.h>
#include <rtabmap/CameraConfig.h>
#include <rtabmap_ros/CameraConfig.h>
class CameraWrapper : public UEventsHandler
{
src/CoreWrapper.cpp
+15 -15
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@@ -50,13 +50,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_geometry/stereo_camera_model.h>
//msgs
#include "rtabmap/Info.h"
#include "rtabmap/InfoEx.h"
#include "rtabmap/MapData.h"
#include "rtabmap/GetMap.h"
#include "rtabmap/PublishMap.h"
#include "rtabmap_ros/Info.h"
#include "rtabmap_ros/InfoEx.h"
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/PublishMap.h"
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MsgConversion.h"
using namespace rtabmap;
@@ -122,9 +122,9 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
ROS_INFO("rtabmap: queue_size = %d", queueSize);
ROS_INFO("rtabmap: tf_delay = %f", tfDelay);
infoPub_ = nh.advertise<rtabmap::Info>("info", 1);
infoPubEx_ = nh.advertise<rtabmap::InfoEx>("infoEx", 1);
mapData_ = nh.advertise<rtabmap::MapData>("mapData", 1);
infoPub_ = nh.advertise<rtabmap_ros::Info>("info", 1);
infoPubEx_ = nh.advertise<rtabmap_ros::InfoEx>("infoEx", 1);
mapData_ = nh.advertise<rtabmap_ros::MapData>("mapData", 1);
configPath_ = uReplaceChar(configPath_, '~', UDirectory::homeDir());
@@ -948,7 +948,7 @@ bool CoreWrapper::setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Em
return true;
}
bool CoreWrapper::getMapCallback(rtabmap::GetMap::Request& req, rtabmap::GetMap::Response& rep)
bool CoreWrapper::getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& rep)
{
ROS_INFO("rtabmap: Getting map (global=%s optimized=%s graphOnly=%s)...",
req.global?"true":"false",
@@ -1080,7 +1080,7 @@ bool CoreWrapper::getMapCallback(rtabmap::GetMap::Request& req, rtabmap::GetMap:
return true;
}
bool CoreWrapper::publishMapCallback(rtabmap::PublishMap::Request& req, rtabmap::PublishMap::Response& res)
bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtabmap_ros::PublishMap::Response& res)
{
if(mapData_.getNumSubscribers())
{
@@ -1112,7 +1112,7 @@ bool CoreWrapper::publishMapCallback(rtabmap::PublishMap::Request& req, rtabmap:
}
//RGB-D SLAM data
rtabmap::MapDataPtr msg(new rtabmap::MapData);
rtabmap_ros::MapDataPtr msg(new rtabmap_ros::MapData);
msg->header.stamp = ros::Time::now();
msg->header.frame_id = mapFrameId_;
@@ -1214,7 +1214,7 @@ void CoreWrapper::publishStats(const Statistics & stats)
if(infoPub_.getNumSubscribers())
{
//ROS_INFO("Sending RtabmapInfo msg (last_id=%d)...", stat.refImageId());
rtabmap::InfoPtr msg(new rtabmap::Info);
rtabmap_ros::InfoPtr msg(new rtabmap_ros::Info);
msg->header.stamp = timeNow;
msg->header.frame_id = mapFrameId_;
@@ -1230,7 +1230,7 @@ void CoreWrapper::publishStats(const Statistics & stats)
if(infoPubEx_.getNumSubscribers())
{
//ROS_INFO("Sending infoEx msg (last_id=%d)...", stat.refImageId());
rtabmap::InfoExPtr msg(new rtabmap::InfoEx);
rtabmap_ros::InfoExPtr msg(new rtabmap_ros::InfoEx);
msg->header.stamp = timeNow;
msg->header.frame_id = mapFrameId_;
@@ -1263,7 +1263,7 @@ void CoreWrapper::publishStats(const Statistics & stats)
if(mapData_.getNumSubscribers())
{
//RGB-D SLAM data
rtabmap::MapDataPtr msg(new rtabmap::MapData);
rtabmap_ros::MapDataPtr msg(new rtabmap_ros::MapData);
msg->header.stamp = timeNow;
msg->header.frame_id = mapFrameId_;
src/CoreWrapper.h
+4 -4
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@@ -50,8 +50,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Rtabmap.h>
#include "rtabmap/GetMap.h"
#include "rtabmap/PublishMap.h"
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/PublishMap.h"
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
@@ -111,8 +111,8 @@ private:
bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool getMapCallback(rtabmap::GetMap::Request& req, rtabmap::GetMap::Response& rep);
bool publishMapCallback(rtabmap::PublishMap::Request&, rtabmap::PublishMap::Response&);
bool getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& rep);
bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
rtabmap::ParametersMap loadParameters(const std::string & configFile);
void saveParameters(const std::string & configFile);
src/DataRecorderNode.cpp
+1 -1
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@@ -49,7 +49,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_geometry/stereo_camera_model.h>
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MsgConversion.h"
#include <pcl_ros/transforms.h>
#include <pcl_conversions/pcl_conversions.h>
src/DbPlayerNode.cpp
+1 -1
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@@ -36,7 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <std_srvs/Empty.h>
#include <rtabmap/MsgConversion.h>
#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/core/DBReader.h>
src/GridMapAssemblerNode.cpp
+3 -3
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@@ -26,8 +26,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <ros/ros.h>
#include "rtabmap/MapData.h"
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
@@ -74,7 +74,7 @@ public:
{
}
void mapDataReceivedCallback(const rtabmap::MapDataConstPtr & msg)
void mapDataReceivedCallback(const rtabmap_ros::MapDataConstPtr & msg)
{
for(unsigned int i=0; i<msg->nodes.size(); ++i)
{
src/GuiWrapper.cpp
+6 -6
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@@ -47,8 +47,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/OdometryEvent.h>
#include <rtabmap/core/util3d.h>
#include "rtabmap/MsgConversion.h"
#include "rtabmap/GetMap.h"
#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap_ros/GetMap.h"
#include "PreferencesDialogROS.h"
@@ -127,8 +127,8 @@ int GuiWrapper::exec()
}
void GuiWrapper::infoMapCallback(
const rtabmap::InfoExConstPtr & infoMsg,
const rtabmap::MapDataConstPtr & mapMsg)
const rtabmap_ros::InfoExConstPtr & infoMsg,
const rtabmap_ros::MapDataConstPtr & mapMsg)
{
//ROS_INFO("rtabmapviz: RTAB-Map info ex received!");
@@ -251,7 +251,7 @@ void GuiWrapper::infoMapCallback(
this->post(new RtabmapEvent(stat));
}
void GuiWrapper::processRequestedMap(const rtabmap::MapData & map)
void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
{
std::map<int, Signature> signatures;
std::map<int, Transform> poses;
@@ -440,7 +440,7 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphLocal ||
cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphGlobal)
{
rtabmap::GetMap getMapSrv;
rtabmap_ros::GetMap getMapSrv;
getMapSrv.request.global = cmd == rtabmap::RtabmapEventCmd::kCmdPublish3DMapGlobal || cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphGlobal;
getMapSrv.request.optimized = cmdEvent->getInt();
getMapSrv.request.graphOnly = cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphGlobal || cmd == rtabmap::RtabmapEventCmd::kCmdPublishTOROGraphLocal;
src/GuiWrapper.h
+8 -8
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@@ -29,8 +29,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define GUIWRAPPER_H_
#include <ros/ros.h>
#include "rtabmap/InfoEx.h"
#include "rtabmap/MapData.h"
#include "rtabmap_ros/InfoEx.h"
#include "rtabmap_ros/MapData.h"
#include "rtabmap/utilite/UEventsHandler.h"
#include <tf/transform_listener.h>
@@ -69,7 +69,7 @@ protected:
virtual void handleEvent(UEvent * anEvent);
private:
void infoMapCallback(const rtabmap::InfoExConstPtr & infoMsg, const rtabmap::MapDataConstPtr & mapMsg);
void infoMapCallback(const rtabmap_ros::InfoExConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, int queueSize);
void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg); // odom
@@ -86,7 +86,7 @@ private:
const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg);
void processRequestedMap(const rtabmap::MapData & map);
void processRequestedMap(const rtabmap_ros::MapData & map);
private:
QApplication * app_;
@@ -97,8 +97,8 @@ private:
std::string frameId_;
tf::TransformListener tfListener_;
message_filters::Subscriber<rtabmap::InfoEx> infoExTopic_;
message_filters::Subscriber<rtabmap::MapData> mapDataTopic_;
message_filters::Subscriber<rtabmap_ros::InfoEx> infoExTopic_;
message_filters::Subscriber<rtabmap_ros::MapData> mapDataTopic_;
ros::Subscriber defaultSub_; // odometry only
image_transport::SubscriberFilter imageSub_;
@@ -108,8 +108,8 @@ private:
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
typedef message_filters::sync_policies::ExactTime<
rtabmap::InfoEx,
rtabmap::MapData> MyInfoMapSyncPolicy;
rtabmap_ros::InfoEx,
rtabmap_ros::MapData> MyInfoMapSyncPolicy;
message_filters::Synchronizer<MyInfoMapSyncPolicy> * infoMapSync_;
typedef message_filters::sync_policies::ApproximateTime<
src/MapAssemblerNode.cpp
+3 -3
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@@ -26,8 +26,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <ros/ros.h>
#include "rtabmap/MapData.h"
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
@@ -96,7 +96,7 @@ public:
{
}
void mapDataReceivedCallback(const rtabmap::MapDataConstPtr & msg)
void mapDataReceivedCallback(const rtabmap_ros::MapDataConstPtr & msg)
{
for(unsigned int i=0; i<msg->nodes.size(); ++i)
{
src/MapOptimizerNode.cpp
+5 -5
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@@ -26,8 +26,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <ros/ros.h>
#include "rtabmap/MapData.h"
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/utilite/ULogger.h>
@@ -70,7 +70,7 @@ public:
pnh.param("tf_delay", tfDelay, tfDelay);
mapDataTopic_ = nh.subscribe("mapData", 1, &MapOptimizer::mapDataReceivedCallback, this);
mapDataPub_ = nh.advertise<rtabmap::MapData>(nh.resolveName("mapData")+"_optimized", 1);
mapDataPub_ = nh.advertise<rtabmap_ros::MapData>(nh.resolveName("mapData")+"_optimized", 1);
if(publishTf)
{
@@ -106,7 +106,7 @@ public:
}
}
void mapDataReceivedCallback(const rtabmap::MapDataConstPtr & msg)
void mapDataReceivedCallback(const rtabmap_ros::MapDataConstPtr & msg)
{
// save new poses and constraints
// Assuming that nodes/constraints are all linked together
@@ -239,7 +239,7 @@ public:
}
UASSERT(optimizedPoses.size() == mapIds.size());
rtabmap::MapData outputMsg = *msg;
rtabmap_ros::MapData outputMsg = *msg;
outputMsg.poseIDs.resize(optimizedPoses.size());
outputMsg.poses.resize(optimizedPoses.size());
outputMsg.mapIDs.resize(mapIds.size());
src/MsgConversion.cpp
+1 -1
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@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MsgConversion.h"
#include <opencv2/highgui/highgui.hpp>
#include <zlib.h>
src/OdometryROS.cpp
+2 -2
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@@ -40,7 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/Signature.h>
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UStl.h"
@@ -393,7 +393,7 @@ bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
return true;
}
bool OdometryROS::resetToPose(rtabmap::ResetPose::Request& req, rtabmap::ResetPose::Response&)
bool OdometryROS::resetToPose(rtabmap_ros::ResetPose::Request& req, rtabmap_ros::ResetPose::Response&)
{
Transform pose(req.x, req.y, req.z, req.roll, req.pitch, req.yaw);
ROS_INFO("visual_odometry: reset odom to pose %s!", pose.prettyPrint().c_str());
src/OdometryROS.h
+2 -2
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@@ -37,7 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <std_srvs/Empty.h>
#include <std_msgs/Header.h>
#include <rtabmap/ResetPose.h>
#include <rtabmap_ros/ResetPose.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
@@ -54,7 +54,7 @@ public:
Transform processData(SensorData & data, const std_msgs::Header & header, int & quality);
bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resetToPose(rtabmap::ResetPose::Request&, rtabmap::ResetPose::Response&);
bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
src/RGBDOdometryNode.cpp
+1 -1
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@@ -40,7 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/utilite/ULogger.h>
src/StereoOdometryNode.cpp
+1 -1
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@@ -41,7 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h>
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
src/nodelets/obstacles_detection.cpp
+1 -1
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@@ -53,7 +53,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <cv_bridge/cv_bridge.h>
#include <opencv2/highgui/highgui.hpp>
#include <rtabmap/MsgConversion.h>
#include <rtabmap_ros/MsgConversion.h>
#include "rtabmap/core/util3d.h"
src/rviz/InfoDisplay.cpp
+2 -2
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@@ -26,7 +26,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "InfoDisplay.h"
#include "rtabmap/MsgConversion.h"
#include "rtabmap_ros/MsgConversion.h"
namespace rtabmap
{
@@ -57,7 +57,7 @@ void InfoDisplay::onInitialize()
spinner_.start();
}
void InfoDisplay::processMessage( const rtabmap::InfoConstPtr& msg )
void InfoDisplay::processMessage( const rtabmap_ros::InfoConstPtr& msg )
{
{
boost::mutex::scoped_lock lock(info_mutex_);
src/rviz/InfoDisplay.h
+3 -3
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@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef INFO_DISPLAY_H
#define INFO_DISPLAY_H
#include <rtabmap/Info.h>
#include <rtabmap_ros/Info.h>
#include <rviz/message_filter_display.h>
#include <rtabmap/core/Transform.h>
@@ -36,7 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap
{
class InfoDisplay: public rviz::MessageFilterDisplay<rtabmap::Info>
class InfoDisplay: public rviz::MessageFilterDisplay<rtabmap_ros::Info>
{
Q_OBJECT
public:
@@ -51,7 +51,7 @@ protected:
virtual void onInitialize();
/** @brief Process a single message. Overridden from MessageFilterDisplay. */
virtual void processMessage( const rtabmap::InfoConstPtr& cloud );
virtual void processMessage( const rtabmap_ros::InfoConstPtr& cloud );
private:
ros::AsyncSpinner spinner_;
src/rviz/MapCloudDisplay.cpp
+6 -6
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@@ -51,8 +51,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "MapCloudDisplay.h"
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/MsgConversion.h>
#include <rtabmap/GetMap.h>
#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap_ros/GetMap.h>
namespace rtabmap
@@ -232,14 +232,14 @@ void MapCloudDisplay::onInitialize()
spinner_.start();
}
void MapCloudDisplay::processMessage( const rtabmap::MapDataConstPtr& msg )
void MapCloudDisplay::processMessage( const rtabmap_ros::MapDataConstPtr& msg )
{
processMapData(*msg);
this->emitTimeSignal(msg->header.stamp);
}
void MapCloudDisplay::processMapData(const rtabmap::MapData& map)
void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
{
// Add new clouds...
for(unsigned int i=0; i<map.nodes.size() && i<map.nodes.size(); ++i)
@@ -468,7 +468,7 @@ void MapCloudDisplay::downloadMap()
{
if(download_map_->getBool())
{
rtabmap::GetMap getMapSrv;
rtabmap_ros::GetMap getMapSrv;
getMapSrv.request.global = true;
getMapSrv.request.optimized = true;
getMapSrv.request.graphOnly = false;
@@ -526,7 +526,7 @@ void MapCloudDisplay::downloadGraph()
{
if(download_graph_->getBool())
{
rtabmap::GetMap getMapSrv;
rtabmap_ros::GetMap getMapSrv;
getMapSrv.request.global = true;
getMapSrv.request.optimized = true;
getMapSrv.request.graphOnly = true;
src/rviz/MapCloudDisplay.h
+4 -4
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@@ -32,7 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <queue>
#include <vector>
#include <rtabmap/MapData.h>
#include <rtabmap_ros/MapData.h>
#include <rtabmap/core/Transform.h>
#include <pluginlib/class_loader.h>
@@ -67,7 +67,7 @@ class PointCloudCommon;
* If you set the channel's name to "rgb", it will interpret the channel as an integer rgb value, with r, g and b
* all being 8 bits.
*/
class MapCloudDisplay: public rviz::MessageFilterDisplay<rtabmap::MapData>
class MapCloudDisplay: public rviz::MessageFilterDisplay<rtabmap_ros::MapData>
{
Q_OBJECT
public:
@@ -133,10 +133,10 @@ protected:
virtual void onInitialize();
/** @brief Process a single message. Overridden from MessageFilterDisplay. */
virtual void processMessage( const rtabmap::MapDataConstPtr& cloud );
virtual void processMessage( const rtabmap_ros::MapDataConstPtr& cloud );
private:
void processMapData(const rtabmap::MapData& map);
void processMapData(const rtabmap_ros::MapData& map);
/**
* \brief Transforms the cloud into the correct frame, and sets up our renderable cloud
src/rviz/MapGraphDisplay.cpp
+1 -1
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@@ -82,7 +82,7 @@ void MapGraphDisplay::destroyObjects()
manual_objects_.clear();
}
void MapGraphDisplay::processMessage( const rtabmap::MapData::ConstPtr& msg )
void MapGraphDisplay::processMessage( const rtabmap_ros::MapData::ConstPtr& msg )
{
if(!(msg->maps.size() == msg->poseIDs.size() && msg->poses.size() == msg->poseIDs.size()))
{
src/rviz/MapGraphDisplay.h
+3 -3
View File
@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef RVIZ_PATH_DISPLAY_H
#define RVIZ_PATH_DISPLAY_H
#include <rtabmap/MapData.h>
#include <rtabmap_ros/MapData.h>
#include <rviz/message_filter_display.h>
@@ -53,7 +53,7 @@ namespace rtabmap
* \class MapGraphDisplay
* \brief Displays the graph in rtabmap::MapData message
*/
class MapGraphDisplay: public MessageFilterDisplay<rtabmap::MapData>
class MapGraphDisplay: public MessageFilterDisplay<rtabmap_ros::MapData>
{
Q_OBJECT
public:
@@ -68,7 +68,7 @@ protected:
virtual void onInitialize();
/** @brief Overridden from MessageFilterDisplay. */
void processMessage( const rtabmap::MapData::ConstPtr& msg );
void processMessage( const rtabmap_ros::MapData::ConstPtr& msg );
private:
void destroyObjects();