ported rtabmap_ros_pkg_split to ros2

rtabmap_msgs/msg/NodeData.msg

@@ -0,0 +1,70 @@
+
+int32 id
+int32 map_id
+int32 weight
+float64 stamp
+string label
+
+# Pose from odometry not corrected
+geometry_msgs/Pose pose
+
+# Ground truth (optional)
+geometry_msgs/Pose ground_truth_pose
+
+# GPS (optional)
+GPS gps
+
+# compressed image in /camera_link frame
+# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
+uint8[] image
+
+# compressed depth image in /camera_link frame
+# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
+uint8[] depth
+
+# Camera models
+float32[] fx
+float32[] fy
+float32[] cx
+float32[] cy
+float32[] width
+float32[] height
+float32[] baseline
+# local transform (/base_link -> /camera_link)
+geometry_msgs/Transform[] local_transform
+
+# compressed 2D or 3D laser scan
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] laser_scan
+int32 laser_scan_max_pts
+float32 laser_scan_max_range
+int32 laser_scan_format
+# local transform (/base_link -> /base_laser)
+geometry_msgs/Transform laser_scan_local_transform
+
+# compressed user data
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] user_data
+
+# compressed occupancy grid
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] grid_ground
+uint8[] grid_obstacles
+uint8[] grid_empty_cells
+float32 grid_cell_size
+Point3f grid_view_point
+
+# std::multimap<wordId, index>
+# std::vector<cv::Keypoint>
+# std::vector<cv::Point3f>
+int32[] word_id_keys
+int32[] word_id_values
+KeyPoint[] word_kpts
+Point3f[] word_pts
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] word_descriptors
+
+GlobalDescriptor[] global_descriptors
+
+EnvSensor[] env_sensors