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Updated for rtabmap 0.8.12. Updated synchronization of messages (laser scan and images) with odometry pose stamp. Removed data_recorder node, use data_recorder.launch instead.

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Mathieu Labbe
2015-05-03 18:23:56 -04:00
parent 55ce1db43a
commit db4b4a9397
10 changed files with 215 additions and 1037 deletions
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src/CoreWrapper.h
+2 -1
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@@ -94,7 +94,7 @@ private:
bool commonOdomUpdate(const nav_msgs::OdometryConstPtr & odomMsg);
bool commonOdomTFUpdate(const ros::Time & stamp); // TF odom
rtabmap::Transform getLocalTransform(const std::string & sensorFrameId, const ros::Time & stamp) const;
rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
void commonDepthCallback(
const std::string & odomFrameId,
@@ -223,6 +223,7 @@ private:
rtabmap::Rtabmap rtabmap_;
bool paused_;
rtabmap::Transform lastPose_;
ros::Time lastPoseStamp_;
float rotVariance_;
float transVariance_;
rtabmap::Transform currentMetricGoal_;