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0.18.3: added apriltags2 support (input topic: tag_detections)

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matlabbe
2018-12-07 18:31:59 -05:00
parent 1559d9ba8e
commit 9ad434e27b
14 changed files with 379 additions and 169 deletions
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launch/rtabmap.launch
+4
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@@ -100,6 +100,8 @@
<arg name="gps_topic" default="/gps/fix" /> <!-- gps async subscription -->
<arg name="tag_topic" default="/tag_detections" /> <!-- apriltags async subscription -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
@@ -256,6 +258,7 @@
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="scan_normal_k" type="int" value="$(arg scan_normal_k)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -273,6 +276,7 @@
<remap from="user_data" to="$(arg user_data_topic)"/>
<remap from="user_data_async" to="$(arg user_data_async_topic)"/>
<remap from="gps/fix" to="$(arg gps_topic)"/>
<remap from="tag_detections" to="$(arg tag_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<!-- localization mode -->