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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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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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src/nodelets/rgbd_odometry.cpp
+4 -1
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@@ -447,7 +447,10 @@ private:
0,
rtabmap_ros::timestampFromROS(higherStamp));
this->processData(data, higherStamp, rgbImages.size()==1?rgbImages[0]->header.frame_id:"");
std_msgs::Header header;
header.stamp = higherStamp;
header.frame_id = rgbImages.size()==1?rgbImages[0]->header.frame_id:"";
this->processData(data, header);
}
void callback(