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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/StereoOdometryNode.cpp
+6 -10
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@@ -48,11 +48,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
using namespace rtabmap;
class StereoOdometry : public OdometryROS
class StereoOdometry : public rtabmap_ros::OdometryROS
{
public:
StereoOdometry(int argc, char * argv[]) :
OdometryROS(argc, argv),
rtabmap_ros::OdometryROS(argc, argv),
approxSync_(0),
exactSync_(0)
{
@@ -162,22 +162,18 @@ public:
UTimer stepTimer;
//
UDEBUG("localTransform = %s", rtabmap::transformFromTF(localTransform).prettyPrint().c_str());
UDEBUG("localTransform = %s", rtabmap_ros::transformFromTF(localTransform).prettyPrint().c_str());
rtabmap::SensorData data(ptrImageLeft->image,
ptrImageRight->image,
fx,
baseline,
cx,
cy,
rtabmap_ros::transformFromTF(localTransform),
rtabmap::Transform(),
rtabmap::transformFromTF(localTransform));
quality=0;
1.0f);
this->processData(data, imageRectLeft->header, quality);
UDEBUG("time odometry->process()=%fs", stepTimer.ticks());
ROS_INFO("Odom: quality=%d, update time=%fs",
quality, (ros::WallTime::now()-time).toSec());
this->processData(data, imageRectLeft->header);
}
else
{