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OdomInfo msg: changed type of localScanMap (to fix long compression issue). Updated test_velodyne.launch to make floam working with kitti bags

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matlabbe
2021-09-24 11:34:23 -04:00
parent e8edafb8ff
commit fd0eb4f62c
6 changed files with 64 additions and 48 deletions
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include/rtabmap_ros/MsgConversion.h
+1 -1
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@@ -170,7 +170,7 @@ void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
std::map<std::string, float> odomInfoToStatistics(const rtabmap::OdometryInfo & info);
rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_ros::OdomInfo & msg, bool ignoreData = false);
void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & msg);
void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_ros::OdomInfo & msg, bool ignoreData = false);
cv::Mat userDataFromROS(const rtabmap_ros::UserData & dataMsg);
void userDataToROS(const cv::Mat & data, rtabmap_ros::UserData & dataMsg, bool compress);