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updated ROS messages with stamps/user_data

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Mathieu Labbe
2015-03-25 14:52:05 -04:00
parent c44b5463c0
commit c75ef5c578
10 changed files with 97 additions and 8 deletions
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src/GuiWrapper.cpp
+12 -3
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@@ -185,14 +185,19 @@ void GuiWrapper::infoMapCallback(
rtabmap::Transform mapToOdom;
std::map<int, rtabmap::Transform> poses;
std::map<int, int> mapIds;
std::map<int, double> stamps;
std::map<int, std::string> labels;
std::map<int, std::vector<unsigned char> > userDatas;
std::multimap<int, Link> links;
rtabmap_ros::mapGraphFromROS(mapMsg->graph, poses, mapIds, labels, links, mapToOdom);
rtabmap_ros::mapGraphFromROS(mapMsg->graph, poses, mapIds, stamps, labels, userDatas, links, mapToOdom);
stat.setMapCorrection(mapToOdom);
stat.setPoses(poses);
stat.setMapIds(mapIds);
stat.setStamps(stamps);
stat.setLabels(labels);
stat.setUserDatas(userDatas);
stat.setConstraints(links);
//data
@@ -214,7 +219,9 @@ void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
std::map<int, Transform> poses;
std::multimap<int, rtabmap::Link> constraints;
std::map<int, int> mapIds;
std::map<int, double> stamps;
std::map<int, std::string> labels;
std::map<int, std::vector<unsigned char> > userDatas;
Transform mapToOdom;
if(map.graph.nodeIds.size() != map.graph.mapIds.size())
@@ -231,7 +238,7 @@ void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
return;
}
rtabmap_ros::mapGraphFromROS(map.graph, poses, mapIds, labels, constraints, mapToOdom);
rtabmap_ros::mapGraphFromROS(map.graph, poses, mapIds, stamps, labels, userDatas, constraints, mapToOdom);
//data
for(unsigned int i=0; i<map.nodes.size(); ++i)
@@ -243,7 +250,9 @@ void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
poses,
constraints,
mapIds,
labels);
stamps,
labels,
userDatas);
QMetaObject::invokeMethod(mainWindow_, "processRtabmapEvent3DMap", Q_ARG(rtabmap::RtabmapEvent3DMap, e));
}