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Added get_map_data2 service (for fine selection of data wanted)

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matlabbe
2020-06-22 22:57:15 -04:00
parent aa0a473a14
commit 83c40d079d
5 changed files with 59 additions and 5 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -51,6 +51,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/GetNodeData.h"
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/GetMap2.h"
#include "rtabmap_ros/ListLabels.h"
#include "rtabmap_ros/PublishMap.h"
#include "rtabmap_ros/SetGoal.h"
@@ -196,6 +197,7 @@ private:
bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool getNodeDataCallback(rtabmap_ros::GetNodeData::Request& req, rtabmap_ros::GetNodeData::Response& res);
bool getMapDataCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
bool getMapData2Callback(rtabmap_ros::GetMap2::Request& req, rtabmap_ros::GetMap2::Response& res);
bool getMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getProbMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
@@ -304,6 +306,7 @@ private:
ros::ServiceServer setLogErrorSrv_;
ros::ServiceServer getNodeDataSrv_;
ros::ServiceServer getMapDataSrv_;
ros::ServiceServer getMapData2Srv_;
ros::ServiceServer getProjMapSrv_;
ros::ServiceServer getMapSrv_;
ros::ServiceServer getProbMapSrv_;