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Updated for RTAB-Map 0.14, added rtabmap_ros/GPS msg and updated NodeData msg

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matlabbe
2017-09-26 17:32:05 -04:00
parent 3c6d9ff465
commit 945b2c0799
5 changed files with 20 additions and 2 deletions
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src/MsgConversion.cpp
+7
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@@ -729,6 +729,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
compressedMatFromBytes(msg.grid_obstacles),
msg.grid_cell_size,
point3fFromROS(msg.grid_view_point));
s.sensorData().setGPS(rtabmap::GPS(msg.gps.stamp, msg.gps.longitude, msg.gps.latitude, msg.gps.altitude, msg.gps.error, msg.gps.bearing));
return s;
}
void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData & msg)
@@ -741,6 +742,12 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
msg.label = signature.getLabel();
transformToPoseMsg(signature.getPose(), msg.pose);
transformToPoseMsg(signature.getGroundTruthPose(), msg.groundTruthPose);
msg.gps.stamp = signature.sensorData().gps().stamp();
msg.gps.longitude = signature.sensorData().gps().longitude();
msg.gps.latitude = signature.sensorData().gps().latitude();
msg.gps.altitude = signature.sensorData().gps().altitude();
msg.gps.error = signature.sensorData().gps().error();
msg.gps.bearing = signature.sensorData().gps().bearing();
compressedMatToBytes(signature.sensorData().imageCompressed(), msg.image);
compressedMatToBytes(signature.sensorData().depthOrRightCompressed(), msg.depth);
compressedMatToBytes(signature.sensorData().laserScanCompressed(), msg.laserScan);