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Increased minimum rtabmap version to 0.20.7. Updated OdomInfo msg with localScanMapFormat (fixed intensity channel wrongly converted to rgb). rtabmap.launch: Show in rviz filtered scan from odometry if icp_odometry is true. rtabmapviz: fixed hanging shutdown after a ctr-c. OdometryROS: can now publish local scan map with intensity channel. icp_odometry: fixed intensity ignored if voxel size is set.

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matlabbe
2020-11-28 17:28:45 -05:00
parent 371a826109
commit ada3e7082c
7 changed files with 64 additions and 33 deletions
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launch/rtabmap.launch
+4 -3
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@@ -376,9 +376,10 @@
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap if="$(arg scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap if="$(arg icp_odometry)" from="scan" to="odom_filtered_input_scan"/>
<remap unless="$(arg icp_odometry)" from="scan" to="$(arg scan_topic)"/>
<remap if="$(arg icp_odometry)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg icp_odometry)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="scan_descriptor" to="$(arg scan_descriptor_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>