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rtabmap: updated list_labels service to return also node ids, added get_plan_nodes service to get path AND node ids

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matlabbe
2019-03-19 16:06:04 -04:00
parent 7c104cf1b9
commit 6d149cd9bc
5 changed files with 104 additions and 2 deletions
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include/rtabmap_ros/CoreWrapper.h
+3
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@@ -54,6 +54,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/SetGoal.h"
#include "rtabmap_ros/SetLabel.h"
#include "rtabmap_ros/Goal.h"
#include "rtabmap_ros/GetPlan.h"
#include "rtabmap_ros/CommonDataSubscriber.h"
#include "MapsManager.h"
@@ -180,6 +181,7 @@ private:
bool getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
bool getPlanCallback(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res);
bool getPlanNodesCallback(rtabmap_ros::GetPlan::Request &req, rtabmap_ros::GetPlan::Response &res);
bool setGoalCallback(rtabmap_ros::SetGoal::Request& req, rtabmap_ros::SetGoal::Response& res);
bool cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
@@ -282,6 +284,7 @@ private:
ros::ServiceServer getGridMapSrv_;
ros::ServiceServer publishMapDataSrv_;
ros::ServiceServer getPlanSrv_;
ros::ServiceServer getPlanNodesSrv_;
ros::ServiceServer setGoalSrv_;
ros::ServiceServer cancelGoalSrv_;
ros::ServiceServer setLabelSrv_;