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Updated to 0.10.8: rtabmapviz can receive goals (new topic /rtabmap/goal_node, ne msg rtabmap_ros::Goal) synchronized with global path

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matlabbe
2015-09-21 16:37:35 -04:00
parent aae95d323c
commit da58edf73a
7 changed files with 106 additions and 34 deletions
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src/CoreWrapper.h
+4 -1
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@@ -53,6 +53,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/PublishMap.h"
#include "rtabmap_ros/SetGoal.h"
#include "rtabmap_ros/SetLabel.h"
#include "rtabmap_ros/Goal.h"
#include "MapsManager.h"
@@ -172,8 +173,9 @@ private:
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg);
void goalCommonCallback(const std::vector<std::pair<int, rtabmap::Transform> > & poses);
void goalCommonCallback(const std::vector<std::pair<int, rtabmap::Transform> > & poses, const ros::Time & stamp);
void goalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
void goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg);
void updateGoal(const ros::Time & stamp);
void process(
@@ -251,6 +253,7 @@ private:
//Planning stuff
ros::Subscriber goalSub_;
ros::Subscriber goalNodeSub_;
ros::Publisher nextMetricGoalPub_;
ros::Publisher goalReachedPub_;
ros::Publisher globalPathPub_;