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OdomInfo msg: added local scan map field. OdometryROS: publishing odom_local_scan_map

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matlabbe
2016-08-08 14:37:32 -04:00
parent bc76e4ec4e
commit d6377eb513
4 changed files with 33 additions and 0 deletions
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msg/OdomInfo.msg
+5
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@@ -30,6 +30,7 @@ int32 inliers
float32 variance
int32 features
int32 localMapSize
int32 localScanMapSize
float32 timeEstimation
float32 timeParticleFiltering
float32 stamp
@@ -52,3 +53,7 @@ int32[] cornerInliers
geometry_msgs/Transform transform
geometry_msgs/Transform transformFiltered
# compressed local scan map data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] localScanMap