Uniformized Landmark msg with LandmarkDetection already in ros2 branch. Fixed right image conversion bug when converting from SensorData msg. Fixed some SensorData related subscribers not initialized.

rtabmap_msgs/CMakeLists.txt

@@ -26,7 +26,8 @@ add_message_files(
    SensorData.msg
    Link.msg
    OdomInfo.msg
-   Landmark.msg
+   LandmarkDetection.msg
+   LandmarkDetections.msg
    Point2f.msg
    Point3f.msg
    Goal.msg

rtabmap_msgs/msg/Landmark.msg

@@ -1,13 +0,0 @@
-#class rtabmap::Landmark
-#{
-#   int id_;
-#   float size_;
-#	Transform pose_;
-#	cv::Mat covariance_;
-#}
-
-Header header
-int32 id
-float32 size
-geometry_msgs/Transform pose
-float64[36] covariance

rtabmap_msgs/msg/LandmarkDetection.msg

@@ -0,0 +1,22 @@
+
+# header.stamp: the timestamp of the detection (e.g. image timestamp)
+# header.frame_id: the base frame of pose (e.g., camera optical frame)
+std_msgs/Header header
+
+# Landmark's frame id
+string landmark_frame_id
+
+# Landmark's unique ID: should be >0
+int32 id
+
+# Size in meters of the landmark/tag (optional, set 0 to not use it).
+float32 size
+
+# Pose of the landmark in header.frame_id frame.
+# If covariance is unknown, keep it as null matrix.
+# rtabmap_slam/rtabmap's landmark_angular_variance and
+# landmark_linear_variance parameters can be used
+# for convenience if covariance is null.
+geometry_msgs/PoseWithCovariance pose
+
+

rtabmap_msgs/msg/LandmarkDetections.msg

@@ -0,0 +1,8 @@
+
+# header.stamp: the timestamp of the detection (e.g. image timestamp)
+# header.frame_id: the base frame of pose (e.g., camera optical frame)
+std_msgs/Header header
+
+LandmarkDetection[] landmarks
+
+

rtabmap_msgs/msg/SensorData.msg

@@ -57,10 +57,10 @@ EnvSensor[] env_sensors
 sensor_msgs/Imu imu
 geometry_msgs/Transform imu_local_transform
 
-Landmark[] landmarks
+LandmarkDetection[] landmarks
 
 # Ground truth
 geometry_msgs/Pose ground_truth_pose
 
 # GPS
-GPS gps
+GPS gps