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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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src/CoreWrapper.h
+4
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@@ -54,6 +54,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Rtabmap.h>
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/ListLabels.h"
#include "rtabmap_ros/PublishMap.h"
#include "rtabmap_ros/SetGoal.h"
#include "rtabmap_ros/SetLabel.h"
@@ -191,6 +192,7 @@ private:
bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
bool setGoalCallback(rtabmap_ros::SetGoal::Request& req, rtabmap_ros::SetGoal::Response& res);
bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
@@ -256,6 +258,7 @@ private:
ros::Publisher infoPub_;
ros::Publisher mapDataPub_;
ros::Publisher mapGraphPub_;
ros::Publisher labelsPub_;
ros::Publisher cloudMapPub_;
ros::Publisher projMapPub_;
ros::Publisher gridMapPub_;
@@ -377,6 +380,7 @@ private:
ros::ServiceServer publishMapDataSrv_;
ros::ServiceServer setGoalSrv_;
ros::ServiceServer setLabelSrv_;
ros::ServiceServer listLabelsSrv_;
ros::ServiceServer octomapBinarySrv_;
ros::ServiceServer octomapFullSrv_;