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costmap_2d: fixed voxel_layer memory corruption (and refactored to make it easier to compare with original version). Added voxel_marker node with option to show occupied, free or unknown cells of a voxel grid msg.

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This commit is contained in:
matlabbe
2020-08-27 18:25:15 -04:00
parent 87d955f154
commit e919f66640
4 changed files with 266 additions and 96 deletions
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CMakeLists.txt
+4
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@@ -500,6 +500,9 @@ IF(costmap_2d_FOUND)
target_link_libraries(rtabmap_costmap_plugins2
${costmap_2d_LIBRARIES}
)
add_executable(rtabmap_costmap_voxel_markers src/costmap_2d/voxel_markers.cpp)
target_link_libraries(rtabmap_costmap_voxel_markers ${costmap_2d_LIBRARIES})
set_target_properties(rtabmap_costmap_voxel_markers PROPERTIES OUTPUT_NAME "voxel_markers")
ENDIF(costmap_2d_FOUND)
#############
@@ -600,6 +603,7 @@ IF(costmap_2d_FOUND)
install(TARGETS
rtabmap_costmap_plugins
rtabmap_costmap_plugins2
rtabmap_costmap_voxel_markers
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}