i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-08 02:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added fiducial_msgs support (aruco_detect), just connect to /fiducial_transforms input of rtabmap node.

Browse Source
This commit is contained in:
matlabbe
2021-12-02 11:40:13 -05:00
parent 8a75963739
commit ec9b77d055
4 changed files with 49 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/rtabmap_ros/CoreWrapper.h
+9
View File
@@ -78,6 +78,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <apriltag_ros/AprilTagDetectionArray.h>
#endif
//#define WITH_FIDUCIAL_MSGS
#ifdef WITH_FIDUCIAL_MSGS
#include <fiducial_msgs/FiducialTransformArray.h>
#endif
#include <actionlib/client/simple_action_client.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <move_base_msgs/MoveBaseActionGoal.h>
@@ -164,6 +169,9 @@ private:
void gpsFixAsyncCallback(const sensor_msgs::NavSatFixConstPtr & gpsFixMsg);
#ifdef WITH_APRILTAG_ROS
void tagDetectionsAsyncCallback(const apriltag_ros::AprilTagDetectionArray & tagDetections);
#endif
#ifdef WITH_FIDUCIAL_MSGS
void fiducialDetectionsAsyncCallback(const fiducial_msgs::FiducialTransformArray & fiducialDetections);
#endif
void imuAsyncCallback(const sensor_msgs::ImuConstPtr & tagDetections);
void republishNodeDataCallback(const std_msgs::Int32MultiArray::ConstPtr& msg);
@@ -368,6 +376,7 @@ private:
ros::Subscriber gpsFixAsyncSub_;
rtabmap::GPS gps_;
ros::Subscriber tagDetectionsSub_;
ros::Subscriber fiducialTransfromsSub_;
std::map<int, std::pair<geometry_msgs::PoseWithCovarianceStamped, float> > tags_; // id, <pose, size>
ros::Subscriber imuSub_;
std::map<double, rtabmap::Transform> imus_;