backward compatibility hydro

CMakeLists.txt

@@ -167,7 +167,6 @@ SET(rtabmap_ros_lib_src
    src/nodelets/obstacles_detection_old.cpp
    src/nodelets/point_cloud_aggregator.cpp
    src/nodelets/undistort_depth.cpp
-   src/nodelets/rgbd_sync.cpp
    src/OdometryROS.cpp
    src/MsgConversion.cpp
    src/MapsManager.cpp
@@ -181,6 +180,12 @@ SET(rtabmap_ros_lib_src
    src/impl/CommonDataSubscriberRGBD4.cpp
 )
 
+IF(${cv_bridge_VERSION_MAJOR} GREATER 1 OR ${cv_bridge_VERSION_MINOR} GREATER 10)
+   SET(rtabmap_ros_lib_src ${rtabmap_ros_lib_src} src/nodelets/rgbd_sync.cpp)
+ELSE()
+   ADD_DEFINITIONS("-DCV_BRIDGE_HYDRO")
+ENDIF()   
+
 # If costmap_2d is found, add the plugin
 IF(costmap_2d_FOUND)
 MESSAGE(STATUS "WITH costmap_2d")

include/rtabmap_ros/CoreWrapper.h

@@ -189,8 +189,8 @@ private:
 	std::string groundTruthBaseFrameId_;
 	std::string configPath_;
 	std::string databasePath_;
-	float odomDefaultAngVariance_;
+	double odomDefaultAngVariance_;
-	float odomDefaultLinVariance_;
+	double odomDefaultLinVariance_;
 	bool waitForTransform_;
 	double waitForTransformDuration_;
 	bool useActionForGoal_;

src/MsgConversion.cpp

@@ -134,7 +134,11 @@ void toCvCopy(const rtabmap_ros::RGBDImage & image, cv_bridge::CvImagePtr & rgb,
 	}
 	else if(!image.rgbCompressed.data.empty())
 	{
+#ifdef CV_BRIDGE_HYDRO
+		ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
+#else
 		rgb = cv_bridge::toCvCopy(image.rgbCompressed);
+#endif
 	}
 	else
 	{
@@ -170,7 +174,11 @@ void toCvShare(const rtabmap_ros::RGBDImageConstPtr & image, cv_bridge::CvImageC
 	}
 	else if(!image->rgbCompressed.data.empty())
 	{
+#ifdef CV_BRIDGE_HYDRO
+                ROS_ERROR("Unsupported compressed image copy, please upgrade at least to ROS Indigo to use this.");
+#else
 		rgb = cv_bridge::toCvCopy(image->rgbCompressed);
+#endif
 	}
 	else
 	{

src/nodelets/icp_odometry.cpp

@@ -58,9 +58,9 @@ public:
 	ICPOdometry() :
 		OdometryROS(false, false, true),
 		scanCloudMaxPoints_(0),
-		scanVoxelSize_(0.0f),
+		scanVoxelSize_(0.0),
 		scanNormalK_(0),
-		scanNormalRadius_(0.0f)
+		scanNormalRadius_(0.0)
 	{
 	}
 
@@ -260,9 +260,9 @@ private:
 	ros::Subscriber scan_sub_;
 	ros::Subscriber cloud_sub_;
 	int scanCloudMaxPoints_;
-	float scanVoxelSize_;
+	double scanVoxelSize_;
 	int scanNormalK_;
-	float scanNormalRadius_;
+	double scanNormalRadius_;
 };
 
 PLUGINLIB_EXPORT_CLASS(rtabmap_ros::ICPOdometry, nodelet::Nodelet);

src/nodelets/point_cloud_xyz.cpp

@@ -74,7 +74,7 @@ public:
 		noiseFilterRadius_(0.0),
 		noiseFilterMinNeighbors_(5),
 		normalK_(0),
-		normalRadius_(0.0f),
+		normalRadius_(0.0),
 		filterNaNs_(false),
 		approxSyncDepth_(0),
 		approxSyncDisparity_(0),
@@ -346,7 +346,7 @@ private:
 	double noiseFilterRadius_;
 	int noiseFilterMinNeighbors_;
 	int normalK_;
-	float normalRadius_;
+	double normalRadius_;
 	bool filterNaNs_;
 	std::vector<float> roiRatios_;
 

src/nodelets/point_cloud_xyzrgb.cpp

@@ -76,7 +76,7 @@ public:
 		noiseFilterRadius_(0.0),
 		noiseFilterMinNeighbors_(5),
 		normalK_(0),
-		normalRadius_(0.0f),
+		normalRadius_(0.0),
 		filterNaNs_(false),
 		approxSyncDepth_(0),
 		approxSyncDisparity_(0),
@@ -497,7 +497,7 @@ private:
 	double noiseFilterRadius_;
 	int noiseFilterMinNeighbors_;
 	int normalK_;
-	float normalRadius_;
+	double normalRadius_;
 	bool filterNaNs_;
 	std::vector<float> roiRatios_;
 	rtabmap::ParametersMap stereoBMParameters_;

src/nodelets/rgbdicp_odometry.cpp

@@ -74,9 +74,9 @@ public:
 		exactCloudSync_(0),
 		queueSize_(5),
 		scanCloudMaxPoints_(0),
-		scanVoxelSize_(0.0f),
+		scanVoxelSize_(0.0),
 		scanNormalK_(0),
-		scanNormalRadius_(0.0f)
+		scanNormalRadius_(0.0)
 	{
 	}
 
@@ -464,9 +464,9 @@ private:
 	message_filters::Synchronizer<MyExactCloudSyncPolicy> * exactCloudSync_;
 	int queueSize_;
 	int scanCloudMaxPoints_;
-	float scanVoxelSize_;
+	double scanVoxelSize_;
 	int scanNormalK_;
-	float scanNormalRadius_;
+	double scanNormalRadius_;
 };
 
 PLUGINLIB_EXPORT_CLASS(rtabmap_ros::RGBDICPOdometry, nodelet::Nodelet);