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0.16.0: updated for upstream 0.16

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matlabbe
2018-02-08 21:42:15 -05:00
parent 709e7ddc06
commit 825a556c1b
6 changed files with 33 additions and 29 deletions
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src/MsgConversion.cpp
+2
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@@ -735,6 +735,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
s.sensorData().setOccupancyGrid(
compressedMatFromBytes(msg.grid_ground),
compressedMatFromBytes(msg.grid_obstacles),
compressedMatFromBytes(msg.grid_empty_cells),
msg.grid_cell_size,
point3fFromROS(msg.grid_view_point));
s.sensorData().setGPS(rtabmap::GPS(msg.gps.stamp, msg.gps.longitude, msg.gps.latitude, msg.gps.altitude, msg.gps.error, msg.gps.bearing));
@@ -762,6 +763,7 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
compressedMatToBytes(signature.sensorData().userDataCompressed(), msg.userData);
compressedMatToBytes(signature.sensorData().gridGroundCellsCompressed(), msg.grid_ground);
compressedMatToBytes(signature.sensorData().gridObstacleCellsCompressed(), msg.grid_obstacles);
compressedMatToBytes(signature.sensorData().gridEmptyCellsCompressed(), msg.grid_empty_cells);
point3fToROS(signature.sensorData().gridViewPoint(), msg.grid_view_point);
msg.grid_cell_size = signature.sensorData().gridCellSize();
msg.laserScanMaxPts = signature.sensorData().laserScanInfo().maxPoints();