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CommonSubscribers: added RGB-only callbacks, added odom-only callbacks. Odom: Fixed reset_odom service assert.

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matlabbe
2019-01-16 19:33:04 -05:00
parent d4de48847e
commit dcbf84629a
11 changed files with 1110 additions and 160 deletions
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launch/demo/demo_appearance_mapping.launch
+2 -1
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@@ -14,7 +14,7 @@
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="subscribe_depth" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_laserScan" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="subscribe_odom" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<param name="queue_size" type="int" value="10"/>
<remap from="rgb/image" to="/image"/> <!-- connect to "image" topic of the camera below -->
@@ -39,6 +39,7 @@
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
<param name="subscribe_odom" type="bool" value="false"/> <!-- must be false for appearance-based mode -->
<!-- This enables the GUI to pause a rtabmap_ros/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap_ros/camera. Action "pause" in the GUI will still pause the rtabmap node. -->