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Added point_cloud_aggregator node

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matlabbe
2020-02-12 13:51:04 -05:00
parent 1c29707a10
commit 68c62d05bb
4 changed files with 497 additions and 280 deletions
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CMakeLists.txt
+8 -1
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@@ -220,7 +220,7 @@ SET(rtabmap_plugins_lib_src
src/nodelets/pointcloud_to_depthimage.cpp
src/nodelets/obstacles_detection.cpp
# src/nodelets/obstacles_detection_old.cpp
# src/nodelets/point_cloud_aggregator.cpp
src/nodelets/point_cloud_aggregator.cpp
# src/nodelets/point_cloud_assembler.cpp
# src/nodelets/undistort_depth.cpp
# src/nodelets/imu_to_tf.cpp
@@ -284,6 +284,7 @@ rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudXYZ")
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudXYZRGB")
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudToDepthImage")
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::ObstaclesDetection")
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::PointCloudAggregator")
rclcpp_components_register_nodes(rtabmap_sync "rtabmap_ros::CoreWrapper")
@@ -340,6 +341,11 @@ ament_target_dependencies(rtabmap_obstacles_detection ${Libraries})
target_link_libraries(rtabmap_obstacles_detection rtabmap_plugins ${RTABMap_LIBRARIES})
set_target_properties(rtabmap_obstacles_detection PROPERTIES OUTPUT_NAME "obstacles_detection")
add_executable(rtabmap_point_cloud_aggregator src/PointCloudAggregatorNode.cpp)
ament_target_dependencies(rtabmap_point_cloud_aggregator ${Libraries})
target_link_libraries(rtabmap_point_cloud_aggregator rtabmap_plugins ${RTABMap_LIBRARIES})
set_target_properties(rtabmap_point_cloud_aggregator PROPERTIES OUTPUT_NAME "point_cloud_aggregator")
#add_executable(rtabmap_map_optimizer src/MapOptimizerNode.cpp)
#ament_target_dependencies(rtabmap_map_optimizer rtabmap_ros)
#set_target_properties(rtabmap_map_optimizer PROPERTIES OUTPUT_NAME "map_optimizer")
@@ -572,6 +578,7 @@ install(TARGETS
rtabmap_point_cloud_xyz
rtabmap_point_cloud_xyzrgb
rtabmap_obstacles_detection
rtabmap_point_cloud_aggregator
# rtabmap_camera
rtabmap_rgbd_sync
rtabmap_stereo_sync