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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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launch/config/demo_find_object.rviz
+3 -3
View File
@@ -272,7 +272,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 3
Cloud voxel size (m): 0.02
@@ -298,7 +298,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -330,7 +330,7 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rtabmap/OrbitOriented
Class: rtabmap_ros/OrbitOriented
Distance: 7.83194
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
launch/config/demo_robot_mapping.rviz
+3 -3
View File
@@ -138,7 +138,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 8
Cloud max depth (m): 4
Cloud voxel size (m): 0.01
@@ -165,7 +165,7 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap/MapGraph
Class: rtabmap_ros/MapGraph
Color: 25; 255; 0
Enabled: true
Name: MapGraph
@@ -179,7 +179,7 @@ Visualization Manager:
Name: Map
Topic: /rtabmap/grid_map
Value: true
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
launch/config/demo_stereo_outdoor.rviz
+4 -4
View File
@@ -125,7 +125,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0
@@ -152,7 +152,7 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap/MapGraph
Class: rtabmap_ros/MapGraph
Color: 25; 255; 0
Enabled: true
Name: MapGraph
@@ -177,7 +177,7 @@ Visualization Manager:
Name: Map
Topic: /map
Value: false
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -205,7 +205,7 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rtabmap/OrbitOriented
Class: rtabmap_ros/OrbitOriented
Distance: 6.60197
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
launch/config/rgbd.rviz
+2 -2
View File
@@ -135,7 +135,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0.01
@@ -161,7 +161,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
launch/config/rgbdslam_datasets.rviz
+2 -2
View File
@@ -143,7 +143,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0.01
@@ -169,7 +169,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info