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Merged master->ros2

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matlabbe
2021-12-20 16:05:46 -05:00
parent 67de34b6a8 8ea0782e14
commit 761da79561
9 changed files with 182 additions and 2 deletions
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include/rtabmap_ros/CoreWrapper.h
+13
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@@ -88,6 +88,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rclcpp_action/rclcpp_action.hpp>
#endif
//#define WITH_FIDUCIAL_MSGS
#ifdef WITH_FIDUCIAL_MSGS
#include <fiducial_msgs/FiducialTransformArray.h>
#endif
namespace rtabmap {
class StereoDense;
}
@@ -164,6 +169,9 @@ private:
void gpsFixAsyncCallback(const sensor_msgs::msg::NavSatFix::SharedPtr gpsFixMsg);
#ifdef WITH_APRILTAG_MSGS
void tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr tagDetections);
#endif
#ifdef WITH_FIDUCIAL_MSGS
void fiducialDetectionsAsyncCallback(const fiducial_msgs::msgs::FiducialTransformArray::SharedPtr fiducialDetections);
#endif
void imuAsyncCallback(const sensor_msgs::msg::Imu::SharedPtr msg);
void republishNodeDataCallback(const std_msgs::msg::Int32MultiArray::ConstSharedPtr msg);
@@ -294,6 +302,7 @@ private:
rclcpp::Publisher<rtabmap_ros::msg::Info>::SharedPtr infoPub_;
rclcpp::Publisher<rtabmap_ros::msg::MapData>::SharedPtr mapDataPub_;
rclcpp::Publisher<rtabmap_ros::msg::MapGraph>::SharedPtr mapGraphPub_;
rclcpp::Publisher<rtabmap_ros::msg::MapGraph>::SharedPtr odomCachePub_;
rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr landmarksPub_;
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr labelsPub_;
rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr mapPathPub_;
@@ -375,9 +384,13 @@ private:
rtabmap::GPS gps_;
#ifdef WITH_APRILTAG_MSGS
rclcpp::Subscription<apriltag_msgs::msg::AprilTagDetectionArray>::SharedPtr tagDetectionsSub_;
#endif
#ifdef WITH_FIDUCIAL_MSGS
rclcpp::Subscription<fiducial_msgs::msg::FiducialTransformArray>::SharedPtr fiducialTransfromsSub_;
#endif
std::map<int, std::pair<geometry_msgs::msg::PoseWithCovarianceStamped, float> > tags_; // id, <pose, size>
rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imuSub_;
std::map<double, rtabmap::Transform> imus_;
std::string imuFrameId_;
rclcpp::Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr republishNodeDataSub_;