created ros2 branch

msg/OdomInfo.msg

@@ -1,33 +1,33 @@
 
-Header header
+std_msgs/Header header
 
 bool lost
 int32 matches
 int32 inliers
-float32 icpInliersRatio
-float32 icpRotation
-float32 icpTranslation
-float32 icpStructuralComplexity
+float32 icp_inliers_ratio
+float32 icp_rotation
+float32 icp_translation
+float32 icp_structural_complexity
 float64[36] covariance
 int32 features
-int32 localMapSize
-int32 localScanMapSize
-int32 localKeyFrames
-int32 localBundleOutliers
-int32 localBundleConstraints
-float32 localBundleTime
-bool keyFrameAdded
-float32 timeEstimation
-float32 timeParticleFiltering
+int32 local_map_size
+int32 local_scan_map_size
+int32 local_key_frames
+int32 local_bundle_outliers
+int32 local_bundle_constraints
+float32 local_bundle_time
+bool key_frame_added
+float32 time_estimation
+float32 time_particle_filtering
 float32 stamp
 float32 interval
-float32 distanceTravelled
-int32 memoryUsage # MB
+float32 distance_travelled
+int32 memory_usage # MB
 
 geometry_msgs/Transform transform
-geometry_msgs/Transform transformFiltered
-geometry_msgs/Transform transformGroundTruth
-geometry_msgs/Transform guessVelocity
+geometry_msgs/Transform transform_filtered
+geometry_msgs/Transform transform_ground_truth
+geometry_msgs/Transform guess_velocity
 
 # 0=F2M, 1=F2F
 int32 type
@@ -36,22 +36,22 @@ int32 type
 #   std::multimap<int, cv::KeyPoint> words;
 #   std::vector<int> wordMatches;
 #   std::vector<int> wordInliers;
-int32[] wordsKeys
-KeyPoint[] wordsValues
-int32[] wordMatches
-int32[] wordInliers
-int32[] localMapKeys
-Point3f[] localMapValues
+int32[] words_keys
+KeyPoint[] words_values
+int32[] word_matches
+int32[] word_inliers
+int32[] local_map_keys
+Point3f[] local_map_values
 
 # compressed local scan map data
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
-uint8[] localScanMap
+uint8[] local_scan_map
 
 # F2F odometry
-#   std::vector<cv::Point2f> refCorners;
-#   std::vector<cv::Point2f> newCorners;
-#   std::vector<int> cornerInliers;
-Point2f[] refCorners
-Point2f[] newCorners
-int32[] cornerInliers
+#   std::vector<cv::Point2f> ref_corners;
+#   std::vector<cv::Point2f> new_corners;
+#   std::vector<int> corner_inliers;
+Point2f[] ref_corners
+Point2f[] new_corners
+int32[] corner_inliers