i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 17:57:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

sync with upstream 0.18.2. Fixed icp_odometry pause not working, added expected_update_rate parameter to odometry to filter messages with bad stamps (gazebo issue), filter consecutive messages with same stamp

Browse Source
This commit is contained in:
matlabbe
2018-11-21 12:01:09 -05:00
parent 801bac5221
commit 7f8a221f7e
7 changed files with 83 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/MsgConversion.cpp
+4
View File
@@ -1122,6 +1122,8 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg)
info.transform = transformFromGeometryMsg(msg.transform);
info.transformFiltered = transformFromGeometryMsg(msg.transformFiltered);
info.transformGroundTruth = transformFromGeometryMsg(msg.transformGroundTruth);
info.guessVelocity = transformFromGeometryMsg(msg.guessVelocity);
UASSERT(msg.localMapKeys.size() == msg.localMapValues.size());
for(unsigned int i=0; i<msg.localMapKeys.size(); ++i)
@@ -1176,6 +1178,8 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & m
transformToGeometryMsg(info.transform, msg.transform);
transformToGeometryMsg(info.transformFiltered, msg.transformFiltered);
transformToGeometryMsg(info.transformGroundTruth, msg.transformGroundTruth);
transformToGeometryMsg(info.guessVelocity, msg.guessVelocity);
msg.localMapKeys = uKeys(info.localMap);
points3fToROS(uValues(info.localMap), msg.localMapValues);