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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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This commit is contained in:
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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src/MsgConversion.cpp
+2 -2
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@@ -1437,8 +1437,7 @@ rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg)
info.localMap.insert(std::make_pair(msg.localMapKeys[i], point3fFromROS(msg.localMapValues[i])));
}
info.localScanMap = rtabmap::LaserScan::backwardCompatibility(rtabmap::uncompressData(msg.localScanMap));
info.localScanMap = rtabmap::LaserScan(rtabmap::uncompressData(msg.localScanMap), 0, 0, (rtabmap::LaserScan::Format)msg.localScanMapFormat);
return info;
}
@@ -1495,6 +1494,7 @@ void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & m
points3fToROS(uValues(info.localMap), msg.localMapValues);
msg.localScanMap = rtabmap::compressData(rtabmap::util3d::transformLaserScan(info.localScanMap, info.localScanMap.localTransform()).data());
msg.localScanMapFormat = info.localScanMap.format();
}
cv::Mat userDataFromROS(const rtabmap_ros::UserData & dataMsg)