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Added rtabmap_ros/RGBDImage and rtabmap_ros/UserData topics. Refactored input messages synchronization of rtabmap and rtabmapviz nodes. "depth_cameras" parameter is replaced with "rgbd_cameras" parameter. Multiple camera is handled through rtabmap_ros/RGBDImage input topics (same for rgbd_odometry node).

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matlabbe
2016-09-26 16:37:31 -04:00
parent 3b6daf7189
commit babb8c8509
24 changed files with 2942 additions and 2920 deletions
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msg/RGBDImage.msg
+12
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Header header
sensor_msgs/CameraInfo cameraInfo
# Raw
sensor_msgs/Image rgb
sensor_msgs/Image depth
# Compressed
sensor_msgs/CompressedImage rgbCompressed
sensor_msgs/CompressedImage depthCompressed