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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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src/GridMapAssemblerNode.cpp
+5 -5
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@@ -78,17 +78,17 @@ public:
{
for(unsigned int i=0; i<msg->nodes.size(); ++i)
{
if(!uContains(scans_, msg->nodes[i].id) && msg->nodes[i].depth2D.bytes.size())
if(!uContains(scans_, msg->nodes[i].id) && msg->nodes[i].laserScan.size())
{
cv::Mat depth2d = util3d::uncompressData(msg->nodes[i].depth2D.bytes);
scans_.insert(std::make_pair(msg->nodes[i].id, util3d::depth2DToPointCloud(depth2d)));
cv::Mat laserScan = util3d::uncompressData(msg->nodes[i].laserScan);
scans_.insert(std::make_pair(msg->nodes[i].id, util3d::laserScanToPointCloud(laserScan)));
}
}
std::map<int, Transform> poses;
for(unsigned int i=0; i<msg->poseIDs.size() && i<msg->poses.size(); ++i)
for(unsigned int i=0; i<msg->graph.nodeIds.size() && i<msg->graph.poses.size(); ++i)
{
poses.insert(std::make_pair(msg->poseIDs[i], transformFromPoseMsg(msg->poses[i])));
poses.insert(std::make_pair(msg->graph.nodeIds[i], rtabmap_ros::transformFromPoseMsg(msg->graph.poses[i])));
}
if(filterRadius_ > 0.0 && filterAngle_ > 0.0)