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rtabmap: added mapPath output topic

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matlabbe
2017-08-18 15:07:56 -04:00
parent 03a5d2e96f
commit 960d9718e9
3 changed files with 130 additions and 77 deletions
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include/rtabmap_ros/CommonDataSubscriber.h
+1
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@@ -66,6 +66,7 @@ public:
bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD();}
int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
int getQueueSize() const {return queueSize_;}
bool isApproxSync() const {return approxSync_;}
include/rtabmap_ros/CoreWrapper.h
+1
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@@ -209,6 +209,7 @@ private:
ros::Publisher mapDataPub_;
ros::Publisher mapGraphPub_;
ros::Publisher labelsPub_;
ros::Publisher mapPathPub_;
//Planning stuff
ros::Subscriber goalSub_;