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Added odom_info_lite topic (same as odom_info but without data). Optimized intermediate nodes processing time by avoiding converting all data in odom_info message.

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matlabbe
2021-03-24 17:40:54 -04:00
parent 6e34cde8e6
commit e75d035d99
5 changed files with 42 additions and 24 deletions
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include/rtabmap_ros/MsgConversion.h
+1 -1
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@@ -168,7 +168,7 @@ rtabmap::Signature nodeInfoFromROS(const rtabmap_ros::NodeData & msg);
void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData & msg);
std::map<std::string, float> odomInfoToStatistics(const rtabmap::OdometryInfo & info);
rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg);
rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg, bool ignoreData = false);
void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & msg);
cv::Mat userDataFromROS(const rtabmap_ros::UserData & dataMsg);
include/rtabmap_ros/OdometryROS.h
+1
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@@ -113,6 +113,7 @@ private:
ros::Publisher odomPub_;
ros::Publisher odomInfoPub_;
ros::Publisher odomInfoLitePub_;
ros::Publisher odomLocalMap_;
ros::Publisher odomLocalScanMap_;
ros::Publisher odomLastFrame_;