Increased package to 0.10.10: Updated RVIZ InfoDisplay plugin

CMakeLists.txt

@@ -17,7 +17,7 @@ find_package(octomap_ros)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(RTABMap 0.10.9 REQUIRED)
+find_package(RTABMap 0.10.10 REQUIRED)
 
 find_package(OpenCV REQUIRED)
 

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rtabmap_ros</name>
-  <version>0.10.4</version>
+  <version>0.10.10</version>
   <description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

src/rviz/InfoDisplay.cpp

@@ -76,8 +76,13 @@ void InfoDisplay::processMessage( const rtabmap_ros::InfoConstPtr& msg )
 			info_ = "";
 		}
 		loopTransform_ = rtabmap_ros::transformFromGeometryMsg(msg->loopClosureTransform);
+
+		rtabmap::Statistics stat;
+		rtabmap_ros::infoFromROS(*msg, stat);
+		statistics_ = stat.data();
 	}
 
+
 	this->emitTimeSignal(msg->header.stamp);
 }
 
@@ -100,6 +105,11 @@ void InfoDisplay::update( float wall_dt, float ros_dt )
 		}
 		this->setStatusStd(rviz::StatusProperty::Ok, "Global", tr("%1").arg(globalCount_).toStdString());
 		this->setStatusStd(rviz::StatusProperty::Ok, "Local", tr("%1").arg(localCount_).toStdString());
+
+		for(std::map<std::string, float>::const_iterator iter=statistics_.begin(); iter!=statistics_.end(); ++iter)
+		{
+			this->setStatus(rviz::StatusProperty::Ok, iter->first.c_str(), tr("%1").arg(iter->second));
+		}
 	}
 }
 
@@ -111,6 +121,7 @@ void InfoDisplay::reset()
 		info_.clear();
 		globalCount_ = 0;
 		localCount_ = 0;
+		statistics_.clear();
 	}
 }
 

src/rviz/InfoDisplay.h

@@ -60,6 +60,7 @@ private:
 	QString info_;
 	int globalCount_;
 	int localCount_;
+	std::map<std::string, float> statistics_;
 	rtabmap::Transform loopTransform_;
 	boost::mutex info_mutex_;
 };