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Check inf values in odom topic (convert them to 1 if Reg/Force3DoF is true for convenience instead of asserting). Added support for size of tags.

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matlabbe
2021-07-30 09:46:22 -04:00
parent b311c6f21a
commit d7a33b86ed
4 changed files with 20 additions and 18 deletions
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include/rtabmap_ros/CoreWrapper.h
+1 -1
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@@ -356,7 +356,7 @@ private:
ros::Subscriber gpsFixAsyncSub_;
rtabmap::GPS gps_;
ros::Subscriber tagDetectionsSub_;
std::map<int, geometry_msgs::PoseWithCovarianceStamped> tags_;
std::map<int, std::pair<geometry_msgs::PoseWithCovarianceStamped, float> > tags_; // id, <pose, size>
ros::Subscriber imuSub_;
std::map<double, rtabmap::Transform> imus_;
std::string imuFrameId_;
include/rtabmap_ros/MsgConversion.h
+1 -1
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@@ -175,7 +175,7 @@ cv::Mat userDataFromROS(const rtabmap_ros::UserData & dataMsg);
void userDataToROS(const cv::Mat & data, rtabmap_ros::UserData & dataMsg, bool compress);
rtabmap::Landmarks landmarksFromROS(
const std::map<int, geometry_msgs::PoseWithCovarianceStamped> & tags,
const std::map<int, std::pair<geometry_msgs::PoseWithCovarianceStamped, float> > & tags,
const std::string & frameId,
const std::string & odomFrameId,
const ros::Time & odomStamp,