i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-08 02:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated ros-pkg for RTAB-Map 0.8.0

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/GuiWrapper.h
+4 -13
View File
@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define GUIWRAPPER_H_
#include <ros/ros.h>
#include "rtabmap_ros/InfoEx.h"
#include "rtabmap_ros/Info.h"
#include "rtabmap_ros/MapData.h"
#include "rtabmap/utilite/UEventsHandler.h"
@@ -69,7 +69,7 @@ protected:
virtual void handleEvent(UEvent * anEvent);
private:
void infoMapCallback(const rtabmap_ros::InfoExConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
void setupCallbacks(bool subscribeDepth, bool subscribeLaserScan, int queueSize);
void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg); // odom
@@ -77,9 +77,6 @@ private:
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
void scanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg);
void depthScanCallback(const sensor_msgs::ImageConstPtr& imageMsg,
const nav_msgs::OdometryConstPtr & odomMsg,
const sensor_msgs::ImageConstPtr& imageDepthMsg,
@@ -98,7 +95,7 @@ private:
bool waitForTransform_;
tf::TransformListener tfListener_;
message_filters::Subscriber<rtabmap_ros::InfoEx> infoExTopic_;
message_filters::Subscriber<rtabmap_ros::Info> infoTopic_;
message_filters::Subscriber<rtabmap_ros::MapData> mapDataTopic_;
ros::Subscriber defaultSub_; // odometry only
@@ -109,7 +106,7 @@ private:
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
typedef message_filters::sync_policies::ExactTime<
rtabmap_ros::InfoEx,
rtabmap_ros::Info,
rtabmap_ros::MapData> MyInfoMapSyncPolicy;
message_filters::Synchronizer<MyInfoMapSyncPolicy> * infoMapSync_;
@@ -127,12 +124,6 @@ private:
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyDepthSyncPolicy;
message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,
nav_msgs::Odometry,
sensor_msgs::LaserScan> MyScanSyncPolicy;
message_filters::Synchronizer<MyScanSyncPolicy> * scanSync_;
};
#endif /* GUIWRAPPER_H_ */