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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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msg/Graph.msg
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Header header
##
# /map to /odom transform
# Always identity when the graph is optimized from the latest pose.
##
geometry_msgs/Transform mapToOdom
##
# The nodes
# std::map<nodeId, mapId>
int32[] nodeIds
int32[] mapIds
# std::map<nodeId, Pose>
geometry_msgs/Pose[] poses
##
# The links
##
Link[] links