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Added Image display in rgbd.rviz

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rviz plugin:  fixed assertion on Ogre::AxisAlignedBox: Assertion "(min.x <= max.x && min.y <= max.y && min.z <= max.z) && The minimum corner of the box must be less than or equal to maximum corner"
rviz plugin: added node_filtering_radius and node_filtering_angle properties for cloud filtering
rtabmap-ros: added set_mode_localization and set_mode_mapping services

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1489 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-09 21:12:24 +00:00
parent 7efd5028f2
commit b492c4678a
5 changed files with 97 additions and 72 deletions
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src/CoreWrapper.cpp
+20
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@@ -174,6 +174,8 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
pauseSrv_ = nh.advertiseService("pause", &CoreWrapper::pauseRtabmapCallback, this);
resumeSrv_ = nh.advertiseService("resume", &CoreWrapper::resumeRtabmapCallback, this);
triggerNewMapSrv_ = nh.advertiseService("trigger_new_map", &CoreWrapper::triggerNewMapCallback, this);
setModeLocalizationSrv_ = nh.advertiseService("set_mode_localization", &CoreWrapper::setModeLocalizationCallback, this);
setModeMappingSrv_ = nh.advertiseService("set_mode_mapping", &CoreWrapper::setModeMappingCallback, this);
getMapDataSrv_ = nh.advertiseService("get_map", &CoreWrapper::getMapCallback, this);
setupCallbacks(subscribeDepth, subscribeLaserScan, queueSize);
@@ -617,6 +619,24 @@ bool CoreWrapper::triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Emp
return true;
}
bool CoreWrapper::setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("rtabmap: Set localization mode");
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));
rtabmap_.parseParameters(parameters);
return true;
}
bool CoreWrapper::setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("rtabmap: Set mapping mode");
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "true"));
rtabmap_.parseParameters(parameters);
return true;
}
bool CoreWrapper::getMapCallback(rtabmap::GetMap::Request& req, rtabmap::GetMap::Response& rep)
{
ROS_INFO("rtabmap: Getting map (global=%s optimized=%s graphOnly=%s)...",