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Added new octomap topics

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This commit is contained in:
matlabbe
2016-06-28 19:02:01 -04:00
parent fd32e28c11
commit 980291ea57
7 changed files with 314 additions and 108 deletions
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src/CoreWrapper.h
+3 -3
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@@ -65,7 +65,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#ifdef WITH_OCTOMAP
#ifdef WITH_OCTOMAP_ROS
#include <octomap_msgs/GetOctomap.h>
#endif
@@ -234,7 +234,7 @@ private:
bool cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
#ifdef WITH_OCTOMAP
#ifdef WITH_OCTOMAP_ROS
bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
#endif
@@ -457,7 +457,7 @@ private:
ros::ServiceServer cancelGoalSrv_;
ros::ServiceServer setLabelSrv_;
ros::ServiceServer listLabelsSrv_;
#ifdef WITH_OCTOMAP
#ifdef WITH_OCTOMAP_ROS
ros::ServiceServer octomapBinarySrv_;
ros::ServiceServer octomapFullSrv_;
#endif