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.

msg/GlobalDescriptor.msg

@@ -0,0 +1,8 @@
+
+Header header
+
+# compressed global descriptor
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+int32 type
+uint8[] info
+uint8[] data

msg/Info.msg

@@ -14,6 +14,9 @@ geometry_msgs/Transform loopClosureTransform
 ####
 # For statistics...
 ####
+# State (node IDs) of the current Working Memory (including STM)
+int32[] wmState
+
 # std::map<int, float> posterior;
 int32[] posteriorKeys
 float32[] posteriorValues

msg/NodeData.msg

@@ -33,12 +33,13 @@ float32 baseline
 # local transform (/base_link -> /camera_link)
 geometry_msgs/Transform[] localTransform
 
-# compressed 2D laser scan in /base_link frame
+# compressed 2D or 3D laser scan
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
 uint8[] laserScan
 int32 laserScanMaxPts
 float32 laserScanMaxRange
 int32 laserScanFormat
+# local transform (/base_link -> /base_laser)
 geometry_msgs/Transform laserScanLocalTransform
 
 # compressed user data
@@ -54,11 +55,12 @@ float32 grid_cell_size
 Point3f grid_view_point
 
 # std::multimap<wordId, cv::Keypoint>
-# std::multimap<wordId, pcl::PointXYZ>
+# std::multimap<wordId, cv::Point3f>
 int32[] wordIds
 KeyPoint[] wordKpts
-sensor_msgs/PointCloud2 wordPts
-
+Point3f[] wordPts
 # compressed descriptors
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
-uint8[] descriptors
+uint8[] wordDescriptors
+
+GlobalDescriptor[] globalDescriptors

msg/RGBDImage.msg

@@ -1,13 +1,25 @@
 
 Header header
 
-sensor_msgs/CameraInfo rgbCameraInfo
-sensor_msgs/CameraInfo depthCameraInfo
+# For stereo, rgb corresponds to left camera, and depth the right camera.
+
+# camera info
+sensor_msgs/CameraInfo rgb_camera_info
+sensor_msgs/CameraInfo depth_camera_info
 
 # Raw
 sensor_msgs/Image rgb
 sensor_msgs/Image depth
 
 # Compressed
-sensor_msgs/CompressedImage rgbCompressed
-sensor_msgs/CompressedImage depthCompressed
+sensor_msgs/CompressedImage rgb_compressed
+sensor_msgs/CompressedImage depth_compressed
+
+# Local features
+KeyPoint[] key_points
+Point3f[] points
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] descriptors
+
+GlobalDescriptor global_descriptor

msg/ScanDescriptor.msg

@@ -0,0 +1,8 @@
+
+Header header
+
+# scan or scan_cloud is set
+sensor_msgs/LaserScan scan
+sensor_msgs/PointCloud2 scan_cloud
+
+GlobalDescriptor global_descriptor