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Added get_nodes_in_radius service (https://github.com/introlab/rtabmap/issues/595)

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matlabbe
2020-09-28 12:09:25 -04:00
parent 829a81eab1
commit f7f9e82cb1
4 changed files with 68 additions and 13 deletions
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include/rtabmap_ros/CoreWrapper.h
+3
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@@ -61,6 +61,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/CommonDataSubscriber.h"
#include "rtabmap_ros/OdomInfo.h"
#include "rtabmap_ros/AddLink.h"
#include "rtabmap_ros/GetNodesInRadius.h"
#include "MapsManager.h"
@@ -210,6 +211,7 @@ private:
bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
bool addLinkCallback(rtabmap_ros::AddLink::Request&, rtabmap_ros::AddLink::Response&);
bool getNodesInRadiusCallback(rtabmap_ros::GetNodesInRadius::Request&, rtabmap_ros::GetNodesInRadius::Response&);
#ifdef WITH_OCTOMAP_MSGS
bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
@@ -319,6 +321,7 @@ private:
ros::ServiceServer setLabelSrv_;
ros::ServiceServer listLabelsSrv_;
ros::ServiceServer addLinkSrv_;
ros::ServiceServer getNodesInRadiusSrv_;
#ifdef WITH_OCTOMAP_MSGS
ros::ServiceServer octomapBinarySrv_;
ros::ServiceServer octomapFullSrv_;