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Added /rtabmap/initialpose input topic, added use_saved_map parameters (default true).

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matlabbe
2018-04-30 14:52:31 -04:00
parent 6c10d9fecf
commit d1763bd52e
3 changed files with 22 additions and 2 deletions
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include/rtabmap_ros/CoreWrapper.h
+4
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@@ -121,6 +121,8 @@ private:
void userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & dataMsg);
void globalPoseAsyncCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg);
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 goalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
void goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg);
@@ -198,6 +200,7 @@ private:
bool waitForTransform_;
double waitForTransformDuration_;
bool useActionForGoal_;
bool useSavedMap_;
bool genScan_;
double genScanMaxDepth_;
double genScanMinDepth_;
@@ -213,6 +216,7 @@ private:
ros::Publisher mapGraphPub_;
ros::Publisher labelsPub_;
ros::Publisher mapPathPub_;
ros::Subscriber initialPoseSub_;
//Planning stuff
ros::Subscriber goalSub_;