From 665735663ef7bf029c11c599c06a1fd727299e0c Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 12 Mar 2024 21:06:59 -0700 Subject: [PATCH 1/9] Update demo_husky.launch Fixed typo found in https://github.com/introlab/rtabmap/issues/1236 --- rtabmap_demos/launch/demo_husky.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rtabmap_demos/launch/demo_husky.launch b/rtabmap_demos/launch/demo_husky.launch index ee5c4e55..33c658c3 100644 --- a/rtabmap_demos/launch/demo_husky.launch +++ b/rtabmap_demos/launch/demo_husky.launch @@ -97,7 +97,7 @@ --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0 - --Icp/PointToPlaneNormalK 10 + --Icp/PointToPlaneK 10 --Icp/MaxTranslation 1"/> From 9694ddb2d1a417ac0dfbe6452cb1db1dfa00d15d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Dominic=20L=C3=A9tourneau?= Date: Tue, 9 Apr 2024 12:22:32 -0400 Subject: [PATCH 2/9] Create scheduled-stats.yml (#1143) --- .github/workflows/scheduled-stats.yml | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 .github/workflows/scheduled-stats.yml diff --git a/.github/workflows/scheduled-stats.yml b/.github/workflows/scheduled-stats.yml new file mode 100644 index 00000000..de50de6e --- /dev/null +++ b/.github/workflows/scheduled-stats.yml @@ -0,0 +1,16 @@ +name: RTAB-Map ROS Scheduled Stats Extraction From GitHub + +on: + workflow_dispatch: + schedule: + - cron: '0 5 * * *' +jobs: + get_stats: + runs-on: ubuntu-latest + steps: + - name: Update Stats + uses: introlab/github-stats-action@v1 + with: + github-stats-token: ${{ secrets.STATS_TOKEN }} + google-application-credentials: ${{ secrets.GOOGLE_APPLICATION_CREDENTIALS }} + spreadsheet-id: ${{ secrets.SPREADSHEET_ID }} From e45957e412077e7452494b9f163e5a8dabadbf95 Mon Sep 17 00:00:00 2001 From: mathieu86 Date: Wed, 10 Apr 2024 15:33:32 -0700 Subject: [PATCH 3/9] docker: Enabled armhf for focal-latest --- .github/workflows/docker.yml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index ebd5269d..ec6913e1 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -22,18 +22,17 @@ jobs: docker_platforms: | linux/amd64 linux/arm64 -# linux/arm/v7 - docker_tag: noetic docker_path: 'noetic' docker_platforms: | linux/amd64 linux/arm64 -# linux/arm/v7 - docker_tag: noetic-latest docker_path: 'noetic/latest' docker_platforms: | linux/amd64 linux/arm64 + linux/arm/v7 steps: - From 0e62d6f91b0b55f2be8f6c4f8162d6e95319cf3a Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 10 Apr 2024 15:45:20 -0700 Subject: [PATCH 4/9] CI-docker-focal: armhf deps ignored to avoid missing package error. --- docker/noetic/latest/Dockerfile | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/docker/noetic/latest/Dockerfile b/docker/noetic/latest/Dockerfile index 523dab67..8291752b 100644 --- a/docker/noetic/latest/Dockerfile +++ b/docker/noetic/latest/Dockerfile @@ -7,7 +7,15 @@ RUN source /ros_entrypoint.sh && \ COPY . catkin_ws/src/rtabmap_ros -RUN source /ros_entrypoint.sh && \ +RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \ + source /ros_entrypoint.sh && \ + cd catkin_ws && \ + catkin_make -j1 -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install && \ + cd && \ + rm -rf catkin_ws ;fi + +RUN if [ "$TARGETPLATFORM" != "linux/arm/v7" ]; then \ + source /ros_entrypoint.sh && \ cd catkin_ws && \ apt update && \ rosdep install --from-paths src --ignore-src -y && \ @@ -15,4 +23,4 @@ RUN source /ros_entrypoint.sh && \ apt-get clean && rm -rf /var/lib/apt/lists/ && \ catkin_make -j1 -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install && \ cd && \ - rm -rf catkin_ws + rm -rf catkin_ws ;fi From fd8b4f46500807d2421ed00ed422077544d83966 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 28 Apr 2024 15:59:42 -0700 Subject: [PATCH 5/9] Fixed odom_sensor_sync inverted motion transform --- .../rtabmap_conversions/MsgConversion.h | 8 ++-- rtabmap_conversions/src/MsgConversion.cpp | 48 +++++++++---------- rtabmap_odom/src/nodelets/icp_odometry.cpp | 2 +- rtabmap_slam/src/CoreWrapper.cpp | 4 +- rtabmap_util/src/nodelets/lidar_deskewing.cpp | 2 +- .../src/nodelets/point_cloud_aggregator.cpp | 4 +- .../src/nodelets/pointcloud_to_depthimage.cpp | 4 +- 7 files changed, 36 insertions(+), 36 deletions(-) diff --git a/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h b/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h index 59922b3d..4c3b60bd 100644 --- a/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h +++ b/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h @@ -208,11 +208,11 @@ rtabmap::Transform getTransform( // get moving transform accordingly to a fixed frame. For example get // transform of /base_link between two stamps accordingly to /odom frame. -rtabmap::Transform getTransform( - const std::string & sourceTargetFrame, +rtabmap::Transform getMovingTransform( + const std::string & movingFrame, const std::string & fixedFrame, - const ros::Time & stampSource, - const ros::Time & stampTarget, + const ros::Time & stampFrom, + const ros::Time & stampTo, tf::TransformListener & listener, double waitForTransform); diff --git a/rtabmap_conversions/src/MsgConversion.cpp b/rtabmap_conversions/src/MsgConversion.cpp index 33236c93..10250277 100644 --- a/rtabmap_conversions/src/MsgConversion.cpp +++ b/rtabmap_conversions/src/MsgConversion.cpp @@ -1930,11 +1930,11 @@ rtabmap::Landmarks landmarksFromROS( if(!baseToTag.isNull()) { // Correction of the global pose accounting the odometry movement since we received it - rtabmap::Transform correction = rtabmap_conversions::getTransform( + rtabmap::Transform correction = rtabmap_conversions::getMovingTransform( frameId, odomFrameId, - iter->second.first.header.stamp, odomStamp, + iter->second.first.header.stamp, listener, waitForTransform); if(!correction.isNull()) @@ -1996,11 +1996,11 @@ rtabmap::Transform getTransform( // get moving transform accordingly to a fixed frame. For example get // transform between moving /base_link between two stamps accordingly to /odom frame. -rtabmap::Transform getTransform( - const std::string & sourceTargetFrame, +rtabmap::Transform getMovingTransform( + const std::string & movingFrame, const std::string & fixedFrame, - const ros::Time & stampSource, - const ros::Time & stampTarget, + const ros::Time & stampFrom, + const ros::Time & stampTo, tf::TransformListener & listener, double waitForTransform) { @@ -2008,25 +2008,25 @@ rtabmap::Transform getTransform( rtabmap::Transform transform; try { - ros::Time stamp = stampSource>stampTarget?stampSource:stampTarget; + ros::Time stamp = stampTo>stampFrom?stampTo:stampFrom; if(waitForTransform > 0.0 && !stamp.isZero()) { std::string errorMsg; - if(!listener.waitForTransform(sourceTargetFrame, fixedFrame, stamp, ros::Duration(waitForTransform), ros::Duration(0.01), &errorMsg)) + if(!listener.waitForTransform(movingFrame, fixedFrame, stamp, ros::Duration(waitForTransform), ros::Duration(0.01), &errorMsg)) { ROS_WARN("Could not get transform from %s to %s accordingly to %s after %f seconds (for stamps=%f -> %f)! Error=\"%s\".", - sourceTargetFrame.c_str(), sourceTargetFrame.c_str(), fixedFrame.c_str(), waitForTransform, stampSource.toSec(), stampTarget.toSec(), errorMsg.c_str()); + movingFrame.c_str(), movingFrame.c_str(), fixedFrame.c_str(), waitForTransform, stampTo.toSec(), stampFrom.toSec(), errorMsg.c_str()); return transform; } } tf::StampedTransform tmp; - listener.lookupTransform(sourceTargetFrame, stampTarget, sourceTargetFrame, stampSource, fixedFrame, tmp); + listener.lookupTransform(movingFrame, stampFrom, movingFrame, stampTo, fixedFrame, tmp); transform = rtabmap_conversions::transformFromTF(tmp); } catch(tf::TransformException & ex) { - ROS_WARN("(getting transform movement of %s according to fixed %s) %s", sourceTargetFrame.c_str(), fixedFrame.c_str(), ex.what()); + ROS_WARN("(getting transform movement of %s according to fixed %s) %s", movingFrame.c_str(), fixedFrame.c_str(), ex.what()); } return transform; } @@ -2178,7 +2178,7 @@ bool convertRGBDMsgs( // sync with odometry stamp if(!odomFrameId.empty() && odomStamp != stamp) { - rtabmap::Transform sensorT = getTransform( + rtabmap::Transform sensorT = getMovingTransform( frameId, odomFrameId, odomStamp, @@ -2494,7 +2494,7 @@ bool convertStereoMsg( // sync with odometry stamp if(!odomFrameId.empty() && odomStamp != leftImageMsg->header.stamp) { - rtabmap::Transform sensorT = getTransform( + rtabmap::Transform sensorT = getMovingTransform( frameId, odomFrameId, odomStamp, @@ -2592,7 +2592,7 @@ bool convertScanMsg( bool outputInFrameId) { // make sure the frame of the laser is updated during the whole scan time - rtabmap::Transform tmpT = getTransform( + rtabmap::Transform tmpT = getMovingTransform( scan2dMsg.header.frame_id, odomFrameId.empty()?frameId:odomFrameId, scan2dMsg.header.stamp, @@ -2635,7 +2635,7 @@ bool convertScanMsg( // sync with odometry stamp if(!odomFrameId.empty() && odomStamp != scan2dMsg.header.stamp) { - rtabmap::Transform sensorT = getTransform( + rtabmap::Transform sensorT = getMovingTransform( frameId, odomFrameId, odomStamp, @@ -2747,7 +2747,7 @@ bool convertScan3dMsg( // sync with odometry stamp if(!odomFrameId.empty() && odomStamp != scan3dMsg.header.stamp) { - rtabmap::Transform sensorT = getTransform( + rtabmap::Transform sensorT = getMovingTransform( frameId, odomFrameId, odomStamp, @@ -3091,18 +3091,18 @@ bool deskew_impl( { if(listener != 0) { - firstPose = rtabmap_conversions::getTransform( + firstPose = rtabmap_conversions::getMovingTransform( input.header.frame_id, fixedFrameId, - firstStamp, input.header.stamp, + firstStamp, *listener, 0); - lastPose = rtabmap_conversions::getTransform( + lastPose = rtabmap_conversions::getMovingTransform( input.header.frame_id, fixedFrameId, - lastStamp, input.header.stamp, + lastStamp, *listener, 0); } @@ -3188,11 +3188,11 @@ bool deskew_impl( } else { - transform = rtabmap_conversions::getTransform( + transform = rtabmap_conversions::getMovingTransform( output.header.frame_id, fixedFrameId, - stamp, output.header.stamp, + stamp, *listener, 0); if(transform.isNull()) @@ -3267,11 +3267,11 @@ bool deskew_impl( } else { - transform = rtabmap_conversions::getTransform( + transform = rtabmap_conversions::getMovingTransform( output.header.frame_id, fixedFrameId, - stamp, output.header.stamp, + stamp, *listener, 0); if(transform.isNull()) diff --git a/rtabmap_odom/src/nodelets/icp_odometry.cpp b/rtabmap_odom/src/nodelets/icp_odometry.cpp index 231eba8f..23bb280e 100644 --- a/rtabmap_odom/src/nodelets/icp_odometry.cpp +++ b/rtabmap_odom/src/nodelets/icp_odometry.cpp @@ -360,7 +360,7 @@ private: if(deskewing_ && (!guessFrameId().empty() || (frameId().compare(scanMsg->header.frame_id) != 0))) { // make sure the frame of the laser is updated during the whole scan time - rtabmap::Transform tmpT = rtabmap_conversions::getTransform( + rtabmap::Transform tmpT = rtabmap_conversions::getMovingTransform( scanMsg->header.frame_id, guessFrameId().empty()?frameId():guessFrameId(), scanMsg->header.stamp, diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp index 9f09ab59..7d21e5f1 100644 --- a/rtabmap_slam/src/CoreWrapper.cpp +++ b/rtabmap_slam/src/CoreWrapper.cpp @@ -1941,11 +1941,11 @@ void CoreWrapper::process( globalPose *= sensorToBase; // transform global pose from sensor frame to robot base frame // Correction of the global pose accounting the odometry movement since we received it - Transform correction = rtabmap_conversions::getTransform( + Transform correction = rtabmap_conversions::getMovingTransform( frameId_, odomFrameId, - globalPose_.header.stamp, lastPoseStamp_, + globalPose_.header.stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0.0); if(!correction.isNull()) diff --git a/rtabmap_util/src/nodelets/lidar_deskewing.cpp b/rtabmap_util/src/nodelets/lidar_deskewing.cpp index 8a8ea4c4..0f09f0b9 100644 --- a/rtabmap_util/src/nodelets/lidar_deskewing.cpp +++ b/rtabmap_util/src/nodelets/lidar_deskewing.cpp @@ -62,7 +62,7 @@ private: void callbackScan(const sensor_msgs::LaserScanConstPtr & msg) { // make sure the frame of the laser is updated during the whole scan time - rtabmap::Transform tmpT = rtabmap_conversions::getTransform( + rtabmap::Transform tmpT = rtabmap_conversions::getMovingTransform( msg->header.frame_id, fixedFrameId_, msg->header.stamp, diff --git a/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp b/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp index cbe7cac8..65f4a47f 100644 --- a/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp +++ b/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp @@ -289,11 +289,11 @@ private: cloudMsgs[0]->header.stamp != cloudMsgs[i]->header.stamp) { // approx sync - cloudDisplacement = rtabmap_conversions::getTransform( + cloudDisplacement = rtabmap_conversions::getMovingTransform( frameId, //sourceTargetFrame fixedFrameId_, //fixedFrame - cloudMsgs[i]->header.stamp, //stampSource cloudMsgs[0]->header.stamp, //stampTarget + cloudMsgs[i]->header.stamp, //stampSource tfListener_, waitForTransformDuration_); } diff --git a/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp b/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp index c4d0f9f8..249015e4 100644 --- a/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp +++ b/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp @@ -160,11 +160,11 @@ private: if(!fixedFrameId_.empty()) { // approx sync - cloudDisplacement = rtabmap_conversions::getTransform( + cloudDisplacement = rtabmap_conversions::getMovingTransform( pointCloud2Msg->header.frame_id, fixedFrameId_, - cameraInfoMsg->header.stamp, pointCloud2Msg->header.stamp, + cameraInfoMsg->header.stamp, *listener_, waitForTransform_); } From 4fa32b87ec30ffd856674df4309b4edb5a78845f Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 28 Apr 2024 17:20:01 -0700 Subject: [PATCH 6/9] docker superpoint: added stereo_img_proc and image_tranport plugins dep for convenience --- docker/noetic/superpoint/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/noetic/superpoint/Dockerfile b/docker/noetic/superpoint/Dockerfile index cc09aa65..d2cb7485 100644 --- a/docker/noetic/superpoint/Dockerfile +++ b/docker/noetic/superpoint/Dockerfile @@ -50,7 +50,7 @@ RUN apt update && \ # Install ros dependencies RUN apt-get update && \ apt upgrade -y && \ - apt-get install -y git ros-noetic-ros-base python3-catkin-tools python3-rosdep build-essential ros-noetic-rtabmap-ros ros-noetic-pybind11-catkin && \ + apt-get install -y git ros-noetic-ros-base python3-catkin-tools python3-rosdep build-essential ros-noetic-rtabmap-ros ros-noetic-pybind11-catkin ros-noetic-image-transport-plugins ros-noetic-stereo-image-proc && \ apt-get remove -y ros-noetic-rtabmap && \ rosdep init && \ apt-get clean && rm -rf /var/lib/apt/lists/ From f07e4f0a718262db9fa66449f260c1cd761d0286 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 28 Apr 2024 17:33:26 -0700 Subject: [PATCH 7/9] Fixed python interpretor not loaded for odometry nodes --- rtabmap_odom/src/RGBDICPOdometryNode.cpp | 7 +++++++ rtabmap_odom/src/RGBDOdometryNode.cpp | 7 +++++++ rtabmap_odom/src/StereoOdometryNode.cpp | 7 +++++++ 3 files changed, 21 insertions(+) diff --git a/rtabmap_odom/src/RGBDICPOdometryNode.cpp b/rtabmap_odom/src/RGBDICPOdometryNode.cpp index dfc0a5e8..e86c8139 100644 --- a/rtabmap_odom/src/RGBDICPOdometryNode.cpp +++ b/rtabmap_odom/src/RGBDICPOdometryNode.cpp @@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "nodelet/loader.h" #include #include +#ifdef RTABMAP_PYTHON +#include +#endif int main(int argc, char **argv) { @@ -69,6 +72,10 @@ int main(int argc, char **argv) nargv.push_back(argv[i]); } +#ifdef RTABMAP_PYTHON + rtabmap::PythonInterface pythonInterface; +#endif + nodelet::Loader nodelet; nodelet::M_string remap(ros::names::getRemappings()); std::string nodelet_name = ros::this_node::getName(); diff --git a/rtabmap_odom/src/RGBDOdometryNode.cpp b/rtabmap_odom/src/RGBDOdometryNode.cpp index a3d75b1a..b3d9462e 100644 --- a/rtabmap_odom/src/RGBDOdometryNode.cpp +++ b/rtabmap_odom/src/RGBDOdometryNode.cpp @@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "nodelet/loader.h" #include #include +#ifdef RTABMAP_PYTHON +#include +#endif int main(int argc, char **argv) { @@ -69,6 +72,10 @@ int main(int argc, char **argv) nargv.push_back(argv[i]); } +#ifdef RTABMAP_PYTHON + rtabmap::PythonInterface pythonInterface; +#endif + nodelet::Loader nodelet; nodelet::M_string remap(ros::names::getRemappings()); std::string nodelet_name = ros::this_node::getName(); diff --git a/rtabmap_odom/src/StereoOdometryNode.cpp b/rtabmap_odom/src/StereoOdometryNode.cpp index 48f14a90..8d6fc219 100644 --- a/rtabmap_odom/src/StereoOdometryNode.cpp +++ b/rtabmap_odom/src/StereoOdometryNode.cpp @@ -29,6 +29,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "nodelet/loader.h" #include #include +#ifdef RTABMAP_PYTHON +#include +#endif int main(int argc, char **argv) { @@ -70,6 +73,10 @@ int main(int argc, char **argv) } +#ifdef RTABMAP_PYTHON + rtabmap::PythonInterface pythonInterface; +#endif + nodelet::Loader nodelet; nodelet::M_string remap(ros::names::getRemappings()); std::string nodelet_name = ros::this_node::getName(); From 493e1e72309061856af680d26a2cb2d6db358743 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 24 May 2024 16:06:56 -0700 Subject: [PATCH 8/9] camera_info pub: Fixed yaml reading error, added "scale" parameter ofr convenience --- rtabmap_util/scripts/yaml_to_camera_info.py | 20 +++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/rtabmap_util/scripts/yaml_to_camera_info.py b/rtabmap_util/scripts/yaml_to_camera_info.py index 5ead3a91..ab8a8b25 100755 --- a/rtabmap_util/scripts/yaml_to_camera_info.py +++ b/rtabmap_util/scripts/yaml_to_camera_info.py @@ -7,8 +7,8 @@ from sensor_msgs.msg import Image def yaml_to_CameraInfo(yaml_fname): with open(yaml_fname, "r") as file_handle: - calib_data = yaml.load(file_handle) - + calib_data = yaml.load(file_handle, Loader=yaml.FullLoader) + camera_info_msg = CameraInfo() camera_info_msg.width = calib_data["image_width"] camera_info_msg.height = calib_data["image_height"] @@ -33,13 +33,27 @@ if __name__ == "__main__": rospy.init_node("yaml_to_camera_info", anonymous=True) yaml_path = rospy.get_param('~yaml_path', '') + scale = rospy.get_param('~scale', 1.0) if not yaml_path: print('yaml_path parameter should be set to path of the calibration file!') sys.exit(1) frameId = rospy.get_param('~frame_id', '') camera_info_msg = yaml_to_CameraInfo(yaml_path) - + + if scale!=1.0: + camera_info_msg.K[0] = camera_info_msg.K[0]*scale + camera_info_msg.K[2] = camera_info_msg.K[2]*scale + camera_info_msg.K[4] = camera_info_msg.K[4]*scale + camera_info_msg.K[5] = camera_info_msg.K[5]*scale + camera_info_msg.P[0] = camera_info_msg.P[0]*scale + camera_info_msg.P[2] = camera_info_msg.P[2]*scale + camera_info_msg.P[3] = camera_info_msg.P[3]*scale + camera_info_msg.P[5] = camera_info_msg.P[5]*scale + camera_info_msg.P[6] = camera_info_msg.P[6]*scale + camera_info_msg.width = int(camera_info_msg.width*scale) + camera_info_msg.height = int(camera_info_msg.height*scale) + publisher = rospy.Publisher("camera_info", CameraInfo, queue_size=1) rospy.Subscriber("image", Image, callback, queue_size=1) rospy.spin() From 86f91f3cec3f1ab6bb0971e84a79330cfafc4cd6 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 27 May 2024 12:01:05 -0700 Subject: [PATCH 9/9] bump 0.21.5 --- rtabmap_conversions/CMakeLists.txt | 2 +- rtabmap_conversions/package.xml | 2 +- rtabmap_costmap_plugins/package.xml | 2 +- rtabmap_demos/package.xml | 2 +- rtabmap_examples/package.xml | 2 +- rtabmap_launch/package.xml | 2 +- rtabmap_legacy/package.xml | 2 +- rtabmap_msgs/package.xml | 2 +- rtabmap_odom/package.xml | 2 +- rtabmap_python/package.xml | 2 +- rtabmap_ros/package.xml | 2 +- rtabmap_rviz_plugins/package.xml | 2 +- rtabmap_slam/package.xml | 2 +- rtabmap_sync/package.xml | 2 +- rtabmap_util/package.xml | 2 +- rtabmap_viz/package.xml | 2 +- 16 files changed, 16 insertions(+), 16 deletions(-) diff --git a/rtabmap_conversions/CMakeLists.txt b/rtabmap_conversions/CMakeLists.txt index 1d99d4ad..166b0abb 100644 --- a/rtabmap_conversions/CMakeLists.txt +++ b/rtabmap_conversions/CMakeLists.txt @@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS image_geometry rtabmap_msgs ) -find_package(RTABMap 0.21.4 REQUIRED) +find_package(RTABMap 0.21.5 REQUIRED) catkin_package( INCLUDE_DIRS include diff --git a/rtabmap_conversions/package.xml b/rtabmap_conversions/package.xml index 3b67c3ae..ed4abf29 100644 --- a/rtabmap_conversions/package.xml +++ b/rtabmap_conversions/package.xml @@ -1,7 +1,7 @@ rtabmap_conversions - 0.21.4 + 0.21.5 RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_costmap_plugins/package.xml b/rtabmap_costmap_plugins/package.xml index 5a7ef44f..1b89fd21 100644 --- a/rtabmap_costmap_plugins/package.xml +++ b/rtabmap_costmap_plugins/package.xml @@ -1,7 +1,7 @@ rtabmap_costmap_plugins - 0.21.4 + 0.21.5 RTAB-Map's costmap_2d plugins Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_demos/package.xml b/rtabmap_demos/package.xml index 6fdb9b88..b2806f86 100644 --- a/rtabmap_demos/package.xml +++ b/rtabmap_demos/package.xml @@ -1,7 +1,7 @@ rtabmap_demos - 0.21.4 + 0.21.5 RTAB-Map's demo launch files. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_examples/package.xml b/rtabmap_examples/package.xml index 48b32775..42b080ff 100644 --- a/rtabmap_examples/package.xml +++ b/rtabmap_examples/package.xml @@ -1,7 +1,7 @@ rtabmap_examples - 0.21.4 + 0.21.5 RTAB-Map's example launch files. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_launch/package.xml b/rtabmap_launch/package.xml index 42a597b6..8ee6de39 100644 --- a/rtabmap_launch/package.xml +++ b/rtabmap_launch/package.xml @@ -1,7 +1,7 @@ rtabmap_launch - 0.21.4 + 0.21.5 RTAB-Map's main launch files. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_legacy/package.xml b/rtabmap_legacy/package.xml index 4f36a56f..fb6e6d06 100644 --- a/rtabmap_legacy/package.xml +++ b/rtabmap_legacy/package.xml @@ -1,7 +1,7 @@ rtabmap_legacy - 0.21.4 + 0.21.5 RTAB-Map's legacy launch files. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_msgs/package.xml b/rtabmap_msgs/package.xml index c3398ae9..a4236524 100644 --- a/rtabmap_msgs/package.xml +++ b/rtabmap_msgs/package.xml @@ -1,7 +1,7 @@ rtabmap_msgs - 0.21.4 + 0.21.5 RTAB-Map's msgs package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_odom/package.xml b/rtabmap_odom/package.xml index fb1a654f..22d65080 100644 --- a/rtabmap_odom/package.xml +++ b/rtabmap_odom/package.xml @@ -1,7 +1,7 @@ rtabmap_odom - 0.21.4 + 0.21.5 RTAB-Map's odometry package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_python/package.xml b/rtabmap_python/package.xml index 717832ef..782efd83 100644 --- a/rtabmap_python/package.xml +++ b/rtabmap_python/package.xml @@ -1,7 +1,7 @@ rtabmap_python - 0.21.4 + 0.21.5 RTAB-Map's python package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_ros/package.xml b/rtabmap_ros/package.xml index 18202fb8..85d968e2 100644 --- a/rtabmap_ros/package.xml +++ b/rtabmap_ros/package.xml @@ -1,7 +1,7 @@ rtabmap_ros - 0.21.4 + 0.21.5 RTAB-Map Stack diff --git a/rtabmap_rviz_plugins/package.xml b/rtabmap_rviz_plugins/package.xml index b4b339c9..d604c7e9 100644 --- a/rtabmap_rviz_plugins/package.xml +++ b/rtabmap_rviz_plugins/package.xml @@ -1,7 +1,7 @@ rtabmap_rviz_plugins - 0.21.4 + 0.21.5 RTAB-Map's rviz plugins. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_slam/package.xml b/rtabmap_slam/package.xml index 0cbfdf63..bf996032 100644 --- a/rtabmap_slam/package.xml +++ b/rtabmap_slam/package.xml @@ -1,7 +1,7 @@ rtabmap_slam - 0.21.4 + 0.21.5 RTAB-Map's SLAM package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_sync/package.xml b/rtabmap_sync/package.xml index 8dccc1cf..08e2fc06 100644 --- a/rtabmap_sync/package.xml +++ b/rtabmap_sync/package.xml @@ -1,7 +1,7 @@ rtabmap_sync - 0.21.4 + 0.21.5 RTAB-Map's synchronization package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_util/package.xml b/rtabmap_util/package.xml index 78b4cea1..83c43128 100644 --- a/rtabmap_util/package.xml +++ b/rtabmap_util/package.xml @@ -1,7 +1,7 @@ rtabmap_util - 0.21.4 + 0.21.5 RTAB-Map's various useful nodes and nodelets. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_viz/package.xml b/rtabmap_viz/package.xml index 9671279c..13ef3227 100644 --- a/rtabmap_viz/package.xml +++ b/rtabmap_viz/package.xml @@ -1,7 +1,7 @@ rtabmap_viz - 0.21.4 + 0.21.5 RTAB-Map's visualization package. Mathieu Labbe Mathieu Labbe