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Added get_node_data service

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matlabbe
2020-05-05 13:25:45 -04:00
parent b2cb41cca8
commit d43bc7697a
5 changed files with 44 additions and 4 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -49,6 +49,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/OdometryInfo.h>
#include "rtabmap_ros/GetNodeData.h"
#include "rtabmap_ros/GetMap.h"
#include "rtabmap_ros/ListLabels.h"
#include "rtabmap_ros/PublishMap.h"
@@ -193,6 +194,7 @@ private:
bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool getNodeDataCallback(rtabmap_ros::GetNodeData::Request& req, rtabmap_ros::GetNodeData::Response& res);
bool getMapDataCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
bool getMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getProbMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
@@ -300,6 +302,7 @@ private:
ros::ServiceServer setLogInfoSrv_;
ros::ServiceServer setLogWarnSrv_;
ros::ServiceServer setLogErrorSrv_;
ros::ServiceServer getNodeDataSrv_;
ros::ServiceServer getMapDataSrv_;
ros::ServiceServer getProjMapSrv_;
ros::ServiceServer getMapSrv_;