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rtabmap: added local grid output topics for convenience. rviz/MapCloud: added cloud_from_scan option. point_cloud_assembler: added option to skip clouds.

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matlabbe
2019-05-02 17:03:04 -04:00
parent e3abe460ee
commit b670186610
5 changed files with 145 additions and 51 deletions
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include/rtabmap_ros/CoreWrapper.h
+3
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@@ -248,6 +248,9 @@ private:
ros::Publisher landmarksPub_;
ros::Publisher labelsPub_;
ros::Publisher mapPathPub_;
ros::Publisher localGridObstacle_;
ros::Publisher localGridEmpty_;
ros::Publisher localGridGround_;
ros::Publisher localizationPosePub_;
ros::Subscriber initialPoseSub_;