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CoreWrapper: forward odom twist to rtabmap library

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matlabbe
2022-02-20 18:07:49 -05:00
parent 74d48b402b
commit fa53c7c000
2 changed files with 88 additions and 163 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -195,6 +195,7 @@ private:
const ros::Time & stamp,
rtabmap::SensorData & data,
const rtabmap::Transform & odom = rtabmap::Transform(),
const std::vector<float> & odomVelocity = std::vector<float>(),
const std::string & odomFrameId = "",
const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
const rtabmap::OdometryInfo & odomInfo = rtabmap::OdometryInfo(),
@@ -260,6 +261,7 @@ private:
bool paused_;
rtabmap::Transform lastPose_;
ros::Time lastPoseStamp_;
std::vector<float> lastPoseVelocity_;
bool lastPoseIntermediate_;
cv::Mat covariance_;
rtabmap::Transform currentMetricGoal_;