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Added rtabmap_ros/Path msg. rtabmap: added new output topics global_path_nodes and local_path_nodes (nodes ids + poses of the planned path)

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matlabbe
2019-03-19 15:26:07 -04:00
parent 5e74c244a4
commit 7c104cf1b9
4 changed files with 49 additions and 9 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -256,6 +256,8 @@ private:
ros::Publisher goalReachedPub_;
ros::Publisher globalPathPub_;
ros::Publisher localPathPub_;
ros::Publisher globalPathNodesPub_;
ros::Publisher localPathNodesPub_;
std::string goalFrameId_;
tf2_ros::TransformBroadcaster tfBroadcaster_;