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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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msg/OdomInfo.msg
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@@ -50,6 +50,7 @@ Point3f[] localMapValues
# compressed local scan map data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] localScanMap
int32 localScanMapFormat
# F2F odometry
# std::vector<cv::Point2f> refCorners;