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Updated demo_hector_mapping.launch with max_range, pm and p2n options. Odometry: added postProcessData() function (used by icp_odometry to republish filtered scan after odometry processing)

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This commit is contained in:
matlabbe
2021-03-20 19:59:38 -04:00
parent d586a8f087
commit 6e34cde8e6
7 changed files with 91 additions and 126 deletions
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include/rtabmap_ros/OdometryROS.h
+3 -2
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@@ -57,7 +57,7 @@ public:
OdometryROS(bool stereoParams, bool visParams, bool icpParams);
virtual ~OdometryROS();
void processData(const rtabmap::SensorData & data, const ros::Time & stamp, const std::string & sensorFrameId);
void processData(rtabmap::SensorData & data, const std_msgs::Header & header);
bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
@@ -80,6 +80,7 @@ protected:
virtual void flushCallbacks() = 0;
tf::TransformListener & tfListener() {return tfListener_;}
virtual void postProcessData(const rtabmap::SensorData & data, const std_msgs::Header & header) const {}
private:
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync);
@@ -143,7 +144,7 @@ private:
bool waitIMUToinit_;
bool imuProcessed_;
std::map<double, rtabmap::IMU> imus_;
std::pair<rtabmap::SensorData, std::pair<ros::Time, std::string> > bufferedData_;
std::pair<rtabmap::SensorData, std_msgs::Header > bufferedData_;
};
}