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rgbd_odometry: fixed delay between input and output when 1 camera is used (queue_size should be 1) causing synchronization problems with depending nodes. rtabmap: handling odomInfo is subscribed (save odom statistics in database).

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matlabbe
2017-12-21 10:29:26 -05:00
parent acc607a8e6
commit 8860afbc83
6 changed files with 67 additions and 14 deletions
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include/rtabmap_ros/CoreWrapper.h
+3 -1
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@@ -44,6 +44,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/OdometryInfo.h>
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/ListLabels.h"
@@ -129,7 +130,8 @@ private:
const rtabmap::SensorData & data,
const rtabmap::Transform & odom = rtabmap::Transform(),
const std::string & odomFrameId = "",
const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1));
const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
const rtabmap::OdometryInfo & odomInfo = rtabmap::OdometryInfo());
bool updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);