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Added LandmarkDetection msg for convenience

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matlabbe
2023-05-11 19:58:59 -07:00
parent 96e8f0e223
commit ff43fcbde2
5 changed files with 75 additions and 8 deletions
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rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+7 -1
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@@ -67,6 +67,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_msgs/msg/odom_info.hpp"
#include "rtabmap_msgs/msg/info.hpp"
#include "rtabmap_msgs/msg/landmark_detection.hpp"
#include "rtabmap_msgs/msg/landmark_detections.hpp"
#include "rtabmap_msgs/srv/get_nodes_in_radius.hpp"
#include "rtabmap_msgs/srv/load_database.hpp"
#include "rtabmap_msgs/srv/detect_more_loop_closures.hpp"
@@ -159,6 +161,8 @@ private:
void userDataAsyncCallback(const rtabmap_msgs::msg::UserData::SharedPtr dataMsg);
void globalPoseAsyncCallback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr globalPoseMsg);
void gpsFixAsyncCallback(const sensor_msgs::msg::NavSatFix::SharedPtr gpsFixMsg);
void landmarkDetectionAsyncCallback(const rtabmap_msgs::msg::LandmarkDetection::SharedPtr landmarkDetection);
void landmarkDetectionsAsyncCallback(const rtabmap_msgs::msg::LandmarkDetections::SharedPtr landmarkDetections);
#ifdef WITH_APRILTAG_MSGS
void tagDetectionsAsyncCallback(const apriltag_msgs::msg::AprilTagDetectionArray::SharedPtr tagDetections);
#endif
@@ -379,13 +383,15 @@ private:
geometry_msgs::msg::PoseWithCovarianceStamped globalPose_;
rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr gpsFixAsyncSub_;
rtabmap::GPS gps_;
rclcpp::Subscription<rtabmap_msgs::msg::LandmarkDetection>::SharedPtr landmarkDetectionSub_;
rclcpp::Subscription<rtabmap_msgs::msg::LandmarkDetections>::SharedPtr landmarkDetectionsSub_;
#ifdef WITH_APRILTAG_MSGS
rclcpp::Subscription<apriltag_msgs::msg::AprilTagDetectionArray>::SharedPtr tagDetectionsSub_;
#endif
#ifdef WITH_FIDUCIAL_MSGS
rclcpp::Subscription<fiducial_msgs::msg::FiducialTransformArray>::SharedPtr fiducialTransfromsSub_;
#endif
std::map<int, std::pair<geometry_msgs::msg::PoseWithCovarianceStamped, float> > tags_; // id, <pose, size>
std::map<int, std::pair<geometry_msgs::msg::PoseWithCovarianceStamped, float> > landmarks_; // id, <pose, size>
rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imuSub_;
std::map<double, rtabmap::Transform> imus_;