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ros: added MapGraph rviz plugin to show trajectory, added ros service PublishMap

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1682 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-09-22 18:04:29 +00:00
parent de65b14769
commit ae19ddf5af
8 changed files with 284 additions and 19 deletions
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src/CoreWrapper.h
+2 -1
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@@ -52,6 +52,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Rtabmap.h>
#include "rtabmap/GetMap.h"
#include "rtabmap/PublishMap.h"
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
@@ -100,7 +101,7 @@ private:
bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool getMapCallback(rtabmap::GetMap::Request& req, rtabmap::GetMap::Response& rep);
bool publishMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool publishMapCallback(rtabmap::PublishMap::Request&, rtabmap::PublishMap::Response&);
rtabmap::ParametersMap loadParameters(const std::string & configFile);
void saveParameters(const std::string & configFile);