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updated rtabmap ros-pkg name to rtabmap_ros

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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/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());