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

2026-10-04 00:37:46 +08:00 · 2020-09-28 12:09:25 -04:00
parent 829a81eab1
commit f7f9e82cb1
4 changed files with 68 additions and 13 deletions
@@ -0,0 +1,21 @@
+#request
+
+# If target pose and node_id are all zeros, poses 
+# around the latest node in the graph are returned.
+# If node_id is not zero, target pose is ignored.
+
+# Node id
+int32 node_id
+
+# Target pose:
+float32 x
+float32 y
+float32 z
+
+# Radius, <=0 means that RGBD/LocalRadius will be used
+float32 radius
+
+---
+#response
+int32[] ids
+geometry_msgs/Pose[] poses