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Added planner node

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Added publishing of laserscan data with data_player
Updated for latest changes of the library (some methods moved from util3d)
rtabmapviz not saving GUI config on ctrl-c
This commit is contained in:
Mathieu Labbe
2015-01-23 11:19:19 -05:00
parent 30e3b94eb0
commit 92c30adad8
13 changed files with 441 additions and 27 deletions
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src/MapOptimizerNode.cpp
+4 -3
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
@@ -211,12 +212,12 @@ public:
{
if(optimizeFromLastNode_)
{
std::map<int, int> depthGraph = util3d::generateDepthGraph(constraints, poses.rbegin()->first);
util3d::optimizeTOROGraph(depthGraph, poses, constraints, optimizedPoses, iterations_, true, ignoreVariance_);
std::map<int, int> depthGraph = rtabmap::generateDepthGraph(constraints, poses.rbegin()->first);
rtabmap::optimizeTOROGraph(depthGraph, poses, constraints, optimizedPoses, iterations_, true, ignoreVariance_);
}
else
{
util3d::optimizeTOROGraph(poses, constraints, optimizedPoses, iterations_, true, ignoreVariance_);
rtabmap::optimizeTOROGraph(poses, constraints, optimizedPoses, iterations_, true, ignoreVariance_);
}
mapToOdomMutex_.lock();