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0.17.0: Occupancy grid is automatically saved in database (#213). By default on localization, rtabmap will adjust the odometry to match the latest saved localization in the database (starting automatically from where the robot shut down, #220).

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matlabbe
2018-04-04 19:18:27 -04:00
parent dc29b74111
commit 75f1652194
5 changed files with 63 additions and 52 deletions
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include/rtabmap_ros/MapsManager.h
+1 -1
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@@ -52,6 +52,7 @@ public:
bool hasSubscribers() const;
void backwardCompatibilityParameters(ros::NodeHandle & pnh, rtabmap::ParametersMap & parameters) const;
void setParameters(const rtabmap::ParametersMap & parameters);
void set2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, rtabmap::Transform> & poses);
std::map<int, rtabmap::Transform> getFilteredPoses(
const std::map<int, rtabmap::Transform> & poses);
@@ -69,7 +70,6 @@ public:
const std::string & mapFrameId);
cv::Mat getGridMap(
const std::map<int, rtabmap::Transform> & filteredPoses,
float & xMin,
float & yMin,
float & gridCellSize);