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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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This commit is contained in:
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/GuiWrapper.cpp
+6 -3
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@@ -185,9 +185,10 @@ void GuiWrapper::infoMapCallback(
rtabmap::Transform mapToOdom;
std::map<int, rtabmap::Transform> poses;
std::map<int, int> mapIds;
std::map<int, std::string> labels;
std::multimap<int, Link> links;
rtabmap_ros::mapGraphFromROS(mapMsg->graph, poses, mapIds, links, mapToOdom);
rtabmap_ros::mapGraphFromROS(mapMsg->graph, poses, mapIds, labels, links, mapToOdom);
stat.setMapCorrection(mapToOdom);
stat.setPoses(poses);
@@ -213,6 +214,7 @@ void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
std::map<int, Transform> poses;
std::multimap<int, rtabmap::Link> constraints;
std::map<int, int> mapIds;
std::map<int, std::string> labels;
Transform mapToOdom;
if(map.graph.nodeIds.size() != map.graph.mapIds.size())
@@ -229,7 +231,7 @@ void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
return;
}
rtabmap_ros::mapGraphFromROS(map.graph, poses, mapIds, constraints, mapToOdom);
rtabmap_ros::mapGraphFromROS(map.graph, poses, mapIds, labels, constraints, mapToOdom);
//data
for(unsigned int i=0; i<map.nodes.size(); ++i)
@@ -240,7 +242,8 @@ void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
this->post(new RtabmapEvent3DMap(signatures,
poses,
constraints,
mapIds));
mapIds,
labels));
}
void GuiWrapper::handleEvent(UEvent * anEvent)