Added LandmarkDetection msg for convenience

rtabmap_msgs/CMakeLists.txt

@@ -25,6 +25,8 @@ set(msg_files
    "msg/MapGraph.msg"
    "msg/NodeData.msg"
    "msg/Link.msg"
+   "msg/LandmarkDetection.msg"
+   "msg/LandmarkDetections.msg"
    "msg/OdomInfo.msg"
    "msg/Point2f.msg"
    "msg/Point3f.msg"

rtabmap_msgs/msg/LandmarkDetection.msg

@@ -0,0 +1,21 @@
+
+# header.stamp: the timestamp of the detection (e.g. image timestamp)
+# header.frame_id: the base frame of pose (e.g., camera optical frame)
+std_msgs/Header header
+
+# Landmark's frame id
+string landmark_frame_id
+
+# Landmark's unique ID: should be >0
+int32 id
+
+# Size in meters of the landmark/tag (optional, set 0 to not use it).
+float32 size
+
+# Pose of the landmark in header.frame_id frame.
+# If covariance is unknown, keep it as null matrix.
+# rtabmap_slam/rtabmap's landmark_angular_variance and
+# landmark_linear_variance parameters can be used
+# for convenience if covariance is null.
+geometry_msgs/PoseWithCovariance pose
+

rtabmap_msgs/msg/LandmarkDetections.msg

@@ -0,0 +1,7 @@
+
+# header.stamp: the timestamp of the detection (e.g. image timestamp)
+# header.frame_id: the base frame of pose (e.g., camera optical frame)
+std_msgs/Header header
+
+LandmarkDetection[] landmarks
+