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Fixed map disappearing with map_optimizer (see http://official-rtab-map-forum.67519.x6.nabble.com/Close-Loop-cause-Map-to-Disappear-td810.html)

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matlabbe
2015-10-31 13:20:42 -04:00
parent df5d693a15
commit cb0ebecd5f
3 changed files with 75 additions and 13 deletions
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include/rtabmap_ros/MsgConversion.h
+3
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@@ -110,6 +110,9 @@ void mapGraphToROS(
rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg);
void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData & msg);
rtabmap::Signature nodeInfoFromROS(const rtabmap_ros::NodeData & msg);
void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData & msg);
rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg);
void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & msg);