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Adding aruco msgs input support (#1334)

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* Adding aruco msgs input support

* updated topic names
This commit is contained in:
matlabbe
2025-06-28 16:46:10 -07:00
committed by GitHub
parent d336369ca4
commit aa7f42a57e
4 changed files with 204 additions and 9 deletions
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rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+43 -1
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@@ -88,6 +88,22 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <apriltag_msgs/msg/april_tag_detection_array.hpp>
#endif
#ifdef WITH_ARUCO_MSGS
#include <aruco_msgs/msg/marker_array.hpp>
#endif
#ifdef WITH_ARUCO_OPENCV_MSGS
#include <aruco_opencv_msgs/msg/aruco_detection.hpp>
#endif
#ifdef WITH_ARUCO_MARKERS_MSGS
#include <aruco_markers_msgs/msg/marker_array.hpp>
#endif
#ifdef WITH_ROS2_ARUCO_INTERFACES
#include <ros2_aruco_interfaces/msg/aruco_markers.hpp>
#endif
#ifdef WITH_NAV2_MSGS
#include <nav2_msgs/action/navigate_to_pose.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
@@ -178,7 +194,20 @@ private:
void landmarkDetectionAsyncCallback(const rtabmap_msgs::msg::LandmarkDetection::SharedPtr landmarkDetection);
void landmarkDetectionsAsyncCallback(const rtabmap_msgs::msg::LandmarkDetections::SharedPtr landmarkDetections);
#ifdef WITH_APRILTAG_MSGS
void tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr tagDetections);
void tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr msg);
void apriltagAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr msg);
#endif
#ifdef WITH_ARUCO_MSGS
void arucoAsyncCallback(const aruco_msgs::msg::MarkerArray::SharedPtr msg);
#endif
#ifdef WITH_ARUCO_OPENCV_MSGS
void arucoOpencvAsyncCallback(const aruco_opencv_msgs::msg::ArucoDetection::SharedPtr msg);
#endif
#ifdef WITH_ARUCO_MARKERS_MSGS
void arucoMarkersAsyncCallback(const aruco_markers_msgs::msg::MarkerArray::SharedPtr msg);
#endif
#ifdef WITH_ROS2_ARUCO_INTERFACES
void arucoInterfacesAsyncCallback(const ros2_aruco_interfaces::msg::ArucoMarkers::SharedPtr msg);
#endif
#ifdef WITH_FIDUCIAL_MSGS
void fiducialDetectionsAsyncCallback(const fiducial_msgs::msgs::FiducialTransformArray::SharedPtr fiducialDetections);
@@ -420,6 +449,19 @@ private:
rclcpp::Subscription<rtabmap_msgs::msg::LandmarkDetections>::SharedPtr landmarkDetectionsSub_;
#ifdef WITH_APRILTAG_MSGS
rclcpp::Subscription<apriltag_msgs::msg::AprilTagDetectionArray>::SharedPtr tagDetectionsSub_;
rclcpp::Subscription<apriltag_msgs::msg::AprilTagDetectionArray>::SharedPtr apriltagSub_;
#endif
#ifdef WITH_ARUCO_MSGS
rclcpp::Subscription<aruco_msgs::msg::MarkerArray>::SharedPtr arucoSub_;
#endif
#ifdef WITH_ARUCO_OPENCV_MSGS
rclcpp::Subscription<aruco_opencv_msgs::msg::ArucoDetection>::SharedPtr arucoOpencvSub_;
#endif
#ifdef WITH_ARUCO_MARKERS_MSGS
rclcpp::Subscription<aruco_markers_msgs::msg::MarkerArray>::SharedPtr arucoMarkersSub_;
#endif
#ifdef WITH_ROS2_ARUCO_INTERFACES
rclcpp::Subscription<ros2_aruco_interfaces::msg::ArucoMarkers>::SharedPtr arucoInterfacesSub_;
#endif
#ifdef WITH_FIDUCIAL_MSGS
rclcpp::Subscription<fiducial_msgs::msg::FiducialTransformArray>::SharedPtr fiducialTransfromsSub_;