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Updated rtabmap_examples launch files with new structure

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This commit is contained in:
matlabbe
2023-03-04 15:40:17 -08:00
parent a7675b7c09
commit f5f6097a20
41 changed files with 245 additions and 144 deletions
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rtabmap_examples/src/ExternalLoopDetectionExample.cpp
+8 -8
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@@ -31,7 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_msgs/MapData.h>
#include <rtabmap_msgs/Info.h>
#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap_conversions/MsgConversion.h>
#include <rtabmap_msgs/AddLink.h>
#include <rtabmap_msgs/GetMap.h>
@@ -48,11 +48,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
/*
* Test:
* $ roslaunch rtabmap_ros demo_robot_mapping.launch
* $ roslaunch rtabmap_demos demo_robot_mapping.launch
* Disable internal loop closure detection, in rtabmapviz->Preferences:
* ->Vocabulary, set Max words to -1 (loop closure detection disabled)
* ->Proximity Detection, uncheck proximity detection by space
* $ rosrun rtabmap_ros external_loop_detection_example
* $ rosrun rtabmap_examples external_loop_detection_example
* $ rosbag play --clock demo_mapping.bag
*/
@@ -76,7 +76,7 @@ void mapDataCallback(const rtabmap_msgs::MapDataConstPtr & mapDataMsg, const rta
ROS_INFO("Received map data!");
rtabmap::Statistics stats;
rtabmap_ros::infoFromROS(*infoMsg, stats);
rtabmap_conversions::infoFromROS(*infoMsg, stats);
bool smallMovement = (bool)uValue(stats.data(), rtabmap::Statistics::kMemorySmall_movement(), 0.0f);
bool fastMovement = (bool)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
@@ -91,7 +91,7 @@ void mapDataCallback(const rtabmap_msgs::MapDataConstPtr & mapDataMsg, const rta
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
std::map<int, rtabmap::Signature> signatures;
rtabmap_ros::mapDataFromROS(*mapDataMsg, poses, links, signatures, mapToOdom);
rtabmap_conversions::mapDataFromROS(*mapDataMsg, poses, links, signatures, mapToOdom);
if(!signatures.empty() &&
signatures.rbegin()->second.sensorData().isValid() &&
@@ -125,7 +125,7 @@ void mapDataCallback(const rtabmap_msgs::MapDataConstPtr & mapDataMsg, const rta
{
rtabmap::Link link(fromId, toId, rtabmap::Link::kUserClosure, t, regInfo.covariance.inv());
rtabmap_msgs::AddLinkRequest req;
rtabmap_ros::linkToROS(link, req.link);
rtabmap_conversions::linkToROS(link, req.link);
rtabmap_msgs::AddLinkResponse res;
if(!addLinkSrv.call(req, res))
{
@@ -197,11 +197,11 @@ int main(int argc, char** argv)
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap::Transform mapToOdom;
rtabmap_ros::mapGraphFromROS(mapRes.data.graph, poses, links, mapToOdom);
rtabmap_conversions::mapGraphFromROS(mapRes.data.graph, poses, links, mapToOdom);
int addedNodes = 0;
for(size_t i=0; i<mapRes.data.nodes.size(); ++i)
{
rtabmap::Signature s = rtabmap_ros::nodeDataFromROS(mapRes.data.nodes.at(i));
rtabmap::Signature s = rtabmap_conversions::nodeDataFromROS(mapRes.data.nodes.at(i));
rtabmap::SensorData compressedData = s.sensorData();
s.sensorData().uncompressData();
if(loopClosureDetector.process(s.sensorData(), rtabmap::Transform()))