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Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member.

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matlabbe
2020-05-03 22:42:01 -04:00
parent f034bf4e91
commit 7e283f9f1d
28 changed files with 2853 additions and 667 deletions
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launch/rtabmap.launch
+6
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@@ -84,6 +84,8 @@
<arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="false"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="subscribe_scan_descriptor" default="false"/>
<arg name="scan_descriptor_topic" default="/scan_descriptor"/>
<arg name="scan_cloud_max_points" default="0"/>
<arg name="scan_cloud_filtered" default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
@@ -283,6 +285,7 @@
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
<param name="subscribe_user_data" type="bool" value="$(arg subscribe_user_data)"/>
<param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
<param if="$(arg icp_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
@@ -319,6 +322,7 @@
<remap if="$(eval scan_cloud_assembling)" from="scan_cloud" to="assembled_cloud"/>
<remap if="$(eval scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="scan_descriptor" to="$(arg scan_descriptor_topic)"/>
<remap from="user_data" to="$(arg user_data_topic)"/>
<remap from="user_data_async" to="$(arg user_data_async_topic)"/>
<remap from="gps/fix" to="$(arg gps_topic)"/>
@@ -340,6 +344,7 @@
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
<param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
<param if="$(arg icp_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
@@ -362,6 +367,7 @@
<remap from="scan" to="$(arg scan_topic)"/>
<remap if="$(arg scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="scan_descriptor" to="$(arg scan_descriptor_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>