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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/MsgConversion.cpp
+2 -2
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@@ -41,7 +41,7 @@ void transformToTF(const rtabmap::Transform & transform, tf::Transform & tfTrans
{
if(!transform.isNull())
{
tf::transformEigenToTF(rtabmap::util3d::transformToEigen3d(transform), tfTransform);
tf::transformEigenToTF(transform.toEigen3d(), tfTransform);
}
else
{
@@ -53,7 +53,7 @@ rtabmap::Transform transformFromTF(const tf::Transform & transform)
{
Eigen::Affine3d eigenTf;
tf::transformTFToEigen(transform, eigenTf);
return rtabmap::util3d::transformFromEigen3d(eigenTf);
return rtabmap::Transform::fromEigen3d(eigenTf);
}
void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs::Transform & msg)