i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Goal msg and SetGoal srv: added frame_id parameter to specify in which frame on the robot we want the goal

Browse Source
This commit is contained in:
matlabbe
2019-01-18 18:05:07 -05:00
parent b09ff6c511
commit c09eabd291
5 changed files with 67 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/rtabmap_ros/CoreWrapper.h
+7 -1
View File
@@ -143,7 +143,12 @@ private:
void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg);
void goalCommonCallback(int id, const std::string & label, const rtabmap::Transform & pose, const ros::Time & stamp, double * planningTime = 0);
void goalCommonCallback(int id,
const std::string & label,
const std::string & frameId,
const rtabmap::Transform & pose,
const ros::Time & stamp,
double * planningTime = 0);
void goalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
void goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg);
void updateGoal(const ros::Time & stamp);
@@ -250,6 +255,7 @@ private:
ros::Publisher goalReachedPub_;
ros::Publisher globalPathPub_;
ros::Publisher localPathPub_;
std::string goalFrameId_;
tf2_ros::TransformBroadcaster tfBroadcaster_;
tf::TransformListener tfListener_;