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Increased required rtabmap version to 0.20.14. Added detect_more_loop_closures, global_bundle_adjustment and cleanup_local_grids services. rviz MapCloud: added "Download namespace" parameter.

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matlabbe
2021-09-11 11:39:11 -04:00
parent b2ac4b6ea7
commit a324562ee0
8 changed files with 359 additions and 81 deletions
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include/rtabmap_ros/CoreWrapper.h
+11
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@@ -63,6 +63,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/AddLink.h"
#include "rtabmap_ros/GetNodesInRadius.h"
#include "rtabmap_ros/LoadDatabase.h"
#include "rtabmap_ros/DetectMoreLoopClosures.h"
#include "rtabmap_ros/GlobalBundleAdjustment.h"
#include "rtabmap_ros/CleanupLocalGrids.h"
#include "MapsManager.h"
@@ -189,6 +192,8 @@ private:
const std::map<int, rtabmap::Transform> & nodes,
const rtabmap::Transform & currentPose);
void republishMaps();
bool updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
@@ -196,6 +201,9 @@ private:
bool loadDatabaseCallback(rtabmap_ros::LoadDatabase::Request&, rtabmap_ros::LoadDatabase::Response&);
bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool detectMoreLoopClosuresCallback(rtabmap_ros::DetectMoreLoopClosures::Request&, rtabmap_ros::DetectMoreLoopClosures::Response&);
bool globalBundleAdjustmentCallback(rtabmap_ros::GlobalBundleAdjustment::Request&, rtabmap_ros::GlobalBundleAdjustment::Response&);
bool cleanupLocalGridsCallback(rtabmap_ros::CleanupLocalGrids::Request&, rtabmap_ros::CleanupLocalGrids::Response&);
bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
@@ -312,6 +320,9 @@ private:
ros::ServiceServer loadDatabaseSrv_;
ros::ServiceServer triggerNewMapSrv_;
ros::ServiceServer backupDatabase_;
ros::ServiceServer detectMoreLoopClosuresSrv_;
ros::ServiceServer globalBundleAdjustmentSrv_;
ros::ServiceServer cleanupLocalGridsSrv_;
ros::ServiceServer setModeLocalizationSrv_;
ros::ServiceServer setModeMappingSrv_;
ros::ServiceServer setLogDebugSrv_;