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merged master->ros2

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matlabbe
2024-01-03 18:11:16 -08:00
parent 2f365ab7e1
commit 80ae448d1b
14 changed files with 493 additions and 131 deletions
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rtabmap_util/include/rtabmap_util/MapsManager.h
+13 -2
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@@ -38,10 +38,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <nav_msgs/msg/occupancy_grid.hpp>
#ifdef RTABMAP_OCTOMAP
#ifdef WITH_OCTOMAP_MSGS
#if defined(WITH_OCTOMAP_MSGS) and defined(RTABMAP_OCTOMAP)
#include <octomap_msgs/msg/octomap.hpp>
#endif
#if defined(WITH_GRID_MAP_ROS) and defined(RTABMAP_GRIDMAP)
#include <grid_map_msgs/msg/grid_map.hpp>
#endif
namespace rtabmap {
@@ -49,6 +51,7 @@ class OctoMap;
class Memory;
class OccupancyGrid;
class LocalGridMaker;
class GridMap;
} // namespace rtabmap
@@ -126,6 +129,9 @@ private:
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr octoMapEmptySpace_;
rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr octoMapProj_;
#endif
#if defined(WITH_GRID_MAP_ROS) and defined(RTABMAP_GRIDMAP)
rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr elevationMapPub_;
#endif
std::map<int, rtabmap::Transform> assembledGroundPoses_;
std::map<int, rtabmap::Transform> assembledObstaclePoses_;
@@ -148,6 +154,11 @@ private:
int octomapTreeDepth_;
bool octomapUpdated_;
#ifdef RTABMAP_GRIDMAP
rtabmap::GridMap * elevationMap_;
#endif
bool elevationMapUpdated_;
rtabmap::ParametersMap parameters_;
bool latching_;