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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/OdomMsgToTFNode.cpp
+2 -2
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@@ -60,14 +60,14 @@ public:
odomFrameId_ = msg->header.frame_id;
}
tf::StampedTransform t;
rtabmap::Transform pose = rtabmap::transformFromPoseMsg(msg->pose.pose);
rtabmap::Transform pose = rtabmap_ros::transformFromPoseMsg(msg->pose.pose);
if(pose.isNull())
{
ROS_WARN("Odometry received is null! Cannot send tf...");
}
else
{
rtabmap::transformToTF(pose, t);
rtabmap_ros::transformToTF(pose, t);
tfBroadcaster_.sendTransform(tf::StampedTransform (t, msg->header.stamp, odomFrameId_, frameId_));
}
}