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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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src/OdometryROS.cpp
+18 -13
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@@ -859,22 +859,27 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
if(odomInfoPub_.getNumSubscribers() || odomInfoLitePub_.getNumSubscribers())
{
rtabmap_ros::OdomInfo infoMsg;
odomInfoToROS(info, infoMsg);
odomInfoToROS(info, infoMsg, odomInfoPub_.getNumSubscribers()==0);
infoMsg.header.stamp = header.stamp; // use corresponding time stamp to image
infoMsg.header.frame_id = odomFrameId_;
odomInfoPub_.publish(infoMsg);
if(odomInfoPub_.getNumSubscribers()>0) {
odomInfoPub_.publish(infoMsg);
}
infoMsg.wordInliers.clear();
infoMsg.wordMatches.clear();
infoMsg.wordsKeys.clear();
infoMsg.wordsValues.clear();
infoMsg.refCorners.clear();
infoMsg.newCorners.clear();
infoMsg.cornerInliers.clear();
infoMsg.localMapKeys.clear();
infoMsg.localMapValues.clear();
infoMsg.localScanMap.clear();
odomInfoLitePub_.publish(infoMsg);
if(odomInfoLitePub_.getNumSubscribers()>0)
{
infoMsg.wordInliers.clear();
infoMsg.wordMatches.clear();
infoMsg.wordsKeys.clear();
infoMsg.wordsValues.clear();
infoMsg.refCorners.clear();
infoMsg.newCorners.clear();
infoMsg.cornerInliers.clear();
infoMsg.localMapKeys.clear();
infoMsg.localMapValues.clear();
infoMsg.localScanMap = sensor_msgs::PointCloud2();
odomInfoLitePub_.publish(infoMsg);
}
}
if(!data.imageRaw().empty() && odomRgbdImagePub_.getNumSubscribers())