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Updated ros-pkg for RTAB-Map 0.8.0

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Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap"
Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h)
Added noise filtering parameters for map_assembler node
Added variance parameter for map_optimizer node
Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
This commit is contained in:
Mathieu Labbe
2014-12-14 16:44:13 -05:00
parent c91586ea57
commit dfe5cff0c0
74 changed files with 915 additions and 1088 deletions
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include/rtabmap_ros/MsgConversion.h
+42 -3
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@@ -29,12 +29,26 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define MSGCONVERSION_H_
#include <tf/LinearMath/Transform.h>
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Pose.h>
#include <rtabmap/core/Transform.h>
#include <opencv2/opencv.hpp>
namespace rtabmap {
#include <opencv2/opencv.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/OdometryInfo.h>
#include <rtabmap_ros/Link.h>
#include <rtabmap_ros/KeyPoint.h>
#include <rtabmap_ros/MapData.h>
#include <rtabmap_ros/Graph.h>
#include <rtabmap_ros/NodeData.h>
#include <rtabmap_ros/OdomInfo.h>
namespace rtabmap_ros {
void transformToTF(const rtabmap::Transform & transform, tf::Transform & tfTransform);
rtabmap::Transform transformFromTF(const tf::Transform & transform);
@@ -49,6 +63,31 @@ rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes);
cv::Mat compressedMatFromBytes(const std::vector<unsigned char> & bytes, bool copy = true);
rtabmap::Link linkFromROS(const rtabmap_ros::Link & msg);
void linkToROS(const rtabmap::Link & link, rtabmap_ros::Link & msg);
cv::KeyPoint keypointFromROS(const rtabmap_ros::KeyPoint & msg);
void keypointToROS(const cv::KeyPoint & kpt, rtabmap_ros::KeyPoint & msg);
void mapGraphFromROS(
const rtabmap_ros::Graph & msg,
std::map<int, rtabmap::Transform> & poses,
std::map<int, int> & mapIds,
std::multimap<int, rtabmap::Link> & links,
rtabmap::Transform & mapToOdom);
void mapGraphToROS(
const std::map<int, rtabmap::Transform> & poses,
const std::map<int, int> & mapIds,
const std::multimap<int, rtabmap::Link> & links,
const rtabmap::Transform & mapToOdom,
rtabmap_ros::Graph & msg);
rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg);
void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData & msg);
rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg);
void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & msg);
}
#endif /* MSGCONVERSION_H_ */