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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/rviz/MapGraphDisplay.cpp
+2 -1
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@@ -104,9 +104,10 @@ void MapGraphDisplay::processMessage( const rtabmap_ros::MapData::ConstPtr& msg
// Get links
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;
rtabmap_ros::mapGraphFromROS(msg->graph, poses, mapIds, links, mapToOdom);
rtabmap_ros::mapGraphFromROS(msg->graph, poses, mapIds, labels, links, mapToOdom);
destroyObjects();