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rtabmap.launch.py: added options to connect to nav2 (through goal_pose topic or action server). RVIZ/MapCloud: fixed downloading option. rtabmap node: all services are now in node namespace. Added dev containers for Humble and Jazzy.

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This commit is contained in:
matlabbe
2024-06-29 16:55:58 -07:00
parent fdd13c31f9
commit 9a86ce9c90
7 changed files with 113 additions and 93 deletions
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rtabmap_viz/src/GuiWrapper.cpp
+10 -10
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@@ -142,7 +142,7 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
UEventsManager::addHandler(this);
UEventsManager::addHandler(mainWindow_);
republishNodeDataPub_ = this->create_publisher<std_msgs::msg::Int32MultiArray>("republish_node_data", 1);
republishNodeDataPub_ = this->create_publisher<std_msgs::msg::Int32MultiArray>(rtabmapNodeName_+"/republish_node_data", 1);
if(subscribeInfoOnly)
{
@@ -369,7 +369,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
rtabmap::RtabmapEventCmd::Cmd cmd = cmdEvent->getCmd();
if(cmd == rtabmap::RtabmapEventCmd::kCmdResetMemory)
{
if(!callEmptyService("reset"))
if(!callEmptyService(rtabmapNodeName_+"/reset"))
{
RCLCPP_ERROR(this->get_logger(), "Can't call \"reset\" service");
}
@@ -390,7 +390,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
callEmptyService("pause_odom");
// Pause rtabmap
if(!callEmptyService("pause"))
if(!callEmptyService(rtabmapNodeName_+"/pause"))
{
RCLCPP_ERROR(this->get_logger(), "Can't call \"pause\" service");
}
@@ -398,7 +398,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
else if(cmd == rtabmap::RtabmapEventCmd::kCmdResume)
{
// Resume rtabmap
if(!callEmptyService("resume"))
if(!callEmptyService(rtabmapNodeName_+"/resume"))
{
RCLCPP_ERROR(this->get_logger(), "Can't call \"resume\" service");
}
@@ -418,7 +418,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdTriggerNewMap)
{
if(!callEmptyService("trigger_new_map"))
if(!callEmptyService(rtabmapNodeName_+"/trigger_new_map"))
{
RCLCPP_ERROR(this->get_logger(), "Can't call \"trigger_new_map\" service");
}
@@ -429,7 +429,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
UASSERT(cmdEvent->value2().isBool());
UASSERT(cmdEvent->value3().isBool());
if(!callMapDataService("get_map_data", cmdEvent->value1().toBool(), cmdEvent->value2().toBool(), cmdEvent->value3().toBool()))
if(!callMapDataService(rtabmapNodeName_+"/get_map_data", cmdEvent->value1().toBool(), cmdEvent->value2().toBool(), cmdEvent->value3().toBool()))
{
this->post(new RtabmapEvent3DMap(1)); // service error
}
@@ -438,7 +438,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
{
UASSERT(cmdEvent->value1().isStr() || cmdEvent->value1().isInt() || cmdEvent->value1().isUInt());
auto client = this->create_client<rtabmap_msgs::srv::SetGoal>("set_goal");
auto client = this->create_client<rtabmap_msgs::srv::SetGoal>(rtabmapNodeName_+"/set_goal");
if(client->wait_for_service(std::chrono::seconds(1)))
{
auto request = std::make_shared<rtabmap_msgs::srv::SetGoal::Request>();
@@ -468,7 +468,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdCancelGoal)
{
if(!callEmptyService("cancel_goal"))
if(!callEmptyService(rtabmapNodeName_+"/cancel_goal"))
{
RCLCPP_ERROR(this->get_logger(), "Can't call \"cancel_goal\" service");
}
@@ -478,7 +478,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
UASSERT(cmdEvent->value1().isStr());
UASSERT(cmdEvent->value2().isUndef() || cmdEvent->value2().isInt() || cmdEvent->value2().isUInt());
auto client = this->create_client<rtabmap_msgs::srv::SetLabel>("set_label");
auto client = this->create_client<rtabmap_msgs::srv::SetLabel>(rtabmapNodeName_+"/set_label");
if(client->wait_for_service(std::chrono::seconds(1)))
{
auto request = std::make_shared<rtabmap_msgs::srv::SetLabel::Request>();
@@ -495,7 +495,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
else if(cmd == rtabmap::RtabmapEventCmd::kCmdRemoveLabel)
{
UASSERT(cmdEvent->value1().isStr());
auto client = this->create_client<rtabmap_msgs::srv::RemoveLabel>("remove_label");
auto client = this->create_client<rtabmap_msgs::srv::RemoveLabel>(rtabmapNodeName_+"/remove_label");
if(client->wait_for_service(std::chrono::seconds(1)))
{
auto request = std::make_shared<rtabmap_msgs::srv::RemoveLabel::Request>();