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added rtabmap/list_labels service, added labels to MapGraph msg, rtabmap node publishes labels as visualization_msgs/MarkerArray

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Mathieu Labbe
2015-03-06 16:17:09 -05:00
parent 3318e0adf2
commit 83a39fb3ea
11 changed files with 242 additions and 27 deletions
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include/rtabmap_ros/MsgConversion.h
+2
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@@ -81,11 +81,13 @@ void mapGraphFromROS(
const rtabmap_ros::Graph & msg,
std::map<int, rtabmap::Transform> & poses,
std::map<int, int> & mapIds,
std::map<int, std::string> & labels,
std::multimap<int, rtabmap::Link> & links,
rtabmap::Transform & mapToOdom);
void mapGraphToROS(
const std::map<int, rtabmap::Transform> & poses,
const std::map<int, int> & mapIds,
const std::map<int, std::string> & labels,
const std::multimap<int, rtabmap::Link> & links,
const rtabmap::Transform & mapToOdom,
rtabmap_ros::Graph & msg);