matlabbe
2349c6b11e
icp_odometry: fixed scan conversion with intensity ( #412 )
2020-05-25 20:10:05 -04:00
matlabbe
7e283f9f1d
Increased required rtabmap version to 0.20. Added ScanDescriptor and GlobalDescriptor msgs. rtabmap: added subscribe_scan_descriptor argument (updated common subscribers). RGBDImage.msg: added local keypoints, local points, local descriptors and global descriptor members. Info.msg: added wmState member.
2020-05-03 22:42:01 -04:00
matlabbe
dff012718e
rtabmap.launch: added scan_cloud_assembling option
2020-04-19 09:53:09 -04:00
matlabbe
9aa3854f8b
rgbd_sync: added decimation option. #393
2020-04-18 14:26:04 -04:00
matlabbe
e641960450
point_cloud_assembler: optimized time to assemble final cloud, added circular_buffer option.
2020-04-13 19:11:41 -04:00
matlabbe
aced8a8c93
MsgConversion/laser: check if intensity field has the supported datatype before converting. PointCloud2Depth: added {cloud}_transformed output topic (with same stamp and frame_id than the depth image).
2020-03-24 17:40:06 -04:00
matlabbe
3207b412ce
imu_to_tf: fixed tf orientation if there is a rotation between base frame and imu frame. OdometryROS: fixed rotation imu init when there is a rotation between imu and base frame
2020-02-25 10:55:28 -05:00
matlabbe
f54e060787
icp_odometry: updated how maxLaserScans is set if we receive an organized point cloud
2020-02-21 15:03:22 -05:00
matlabbe
f2966b17e4
IcpOdometry: keeping intensity when converting clouds. PointCloudAssembler: option to synchronize with odom_info to assemble only keyframes
2020-01-22 13:07:28 -05:00
matlabbe
f242e1879b
icp_odometry: fixed plugin unloading warning on exit
2019-12-11 16:03:50 -05:00
matlabbe
1b45d2ba80
Update icp_odometry.cpp
2019-12-11 13:45:43 -05:00
Prescillia
e7d940b3ab
Added rtabmap_ros plugin interface
2019-12-11 12:29:24 -05:00
matlabbe
3b6792920e
💄
2019-11-21 10:47:44 -05:00
matlabbe
1396c94d22
Merge pull request #369 from PrescilliaA/master
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added assemblingTime constraint for point cloud assembling
2019-11-21 10:42:23 -05:00
Prescillia
3e0c501c32
corrected assert and condition for assembling time
2019-11-21 10:26:03 -05:00
matlabbe
26b8fb5027
pointcloud_to_depthimage: Handling the case of empty input cloud to avoid an assert #364
2019-11-19 08:53:02 -05:00
matlabbe
b19a82ef34
obstacles_detection: added warning if input cloud is indicated to be not dense but only has 1 row
2019-11-16 21:27:45 -05:00
Prescillia
cb57676af8
changed assembling cloud condition from nb of clouds to sweep time
2019-11-14 15:21:48 -05:00
matlabbe
e888d655e8
imu_to_tf: added wait_for_transform_duration parameter
2019-09-17 09:05:10 -04:00
matlabbe
9ec95e1e0d
point_cloud_assembler: added voxel_size parameter
2019-09-15 10:08:08 -04:00
matlabbe
34c75139f2
added test_d435i_vio.launch example (VINS-Fusion integration)
2019-08-15 16:45:35 -04:00
matlabbe
18ee9909fc
Updated with rtabmap-0.19.5, added tange_min and range_max parameters to point_cloud_assembler nodelet
2019-08-01 16:31:10 -04:00
matlabbe
ca42a35709
point_cloud_assembler: added wait_for_transform_duration param
2019-07-15 17:11:27 -04:00
matlabbe
2eb8ba1be1
MapCloudDisplay: fixed default channel for scans. imu_to_tf: fixed wrong stabilized orientation with non null roll/pitch
2019-05-02 19:42:15 -04:00
matlabbe
b670186610
rtabmap: added local grid output topics for convenience. rviz/MapCloud: added cloud_from_scan option. point_cloud_assembler: added option to skip clouds.
2019-05-02 17:03:04 -04:00
matlabbe
b4334bb832
removed camera_info stamp check for sync and throttle nodes
2019-04-11 12:03:58 -04:00
matlabbe
8df7157d84
rgbd_sync: removed error log when only the camera_info stamp changed
2019-04-10 17:42:49 -04:00
matlabbe
ec02608e01
Odom: don't update previousStamp on IMU updates, updated euroc_datasets.launch with okvis example
2019-03-20 22:12:30 -04:00
matlabbe
ab23e651bf
Updated for rtabmap 0.19.1. Added VINS example in euroc_datasets.launch
2019-03-18 20:47:13 -04:00
matlabbe
6bd420bc54
icp_odometry: auto set scan_cloud_max_points if received cloud is organized (we know full dimension)
2019-03-14 19:12:56 -04:00
matlabbe
627b6e78bd
Added imu_to_tf node, added test_ouster.launch
2019-03-14 14:22:26 -04:00
matlabbe
f8a1b10ced
stereo_sync: added compressed_rate parameter
2019-03-04 19:22:25 -05:00
matlabbe
4646b99cbb
Added rgbd_relay node/nodelet (can be used exactly like a relay of topic_tools but with ability to uncompress or compress rgbd_image)
2019-03-03 18:31:35 -05:00
matlabbe
839d7d2835
icp_odometry: publishing odom_filtered_input_scan debugging topic. Added test_velodyne.launch
2019-02-21 19:38:34 -05:00
matlabbe
1f597a58d0
point_cloud_assembler: fixed subscription warning still shown while receiving correctly the topics
2019-02-21 15:24:23 -05:00
matlabbe
888cd22072
Added point_cloud_assembler node
2019-02-21 14:55:35 -05:00
matlabbe
d4de48847e
point_cloud_aggregator: added fixed_frame_id to adjust clouds when the robot is moving (accordingly to odometry). odom: added guess_min_time parameter (used to force odom to publish odom msg at this rate in case the guess is not changing).
2019-01-15 21:37:43 -05:00
matlabbe
19433f809f
Added input stamps double-verification in some nodelets (data_throttle, stereo_throttle, rgbd_sync, stereo_sync, pointcloud_to_depthimage)
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rtabmapviz: added "max_odom_update_rate" parameters
Odom: moved IMU callback from stereo_odometry nodelet to OdometryROS, added "wait_imu_to_init" parameter to initialize odom with IMU first
Fixed fake camera local transform on scan-only callbacks (rtabmap, rtabmapviz)
2019-01-15 15:50:10 -05:00
matlabbe
7f8a221f7e
sync with upstream 0.18.2. Fixed icp_odometry pause not working, added expected_update_rate parameter to odometry to filter messages with bad stamps (gazebo issue), filter consecutive messages with same stamp
2018-11-21 12:01:09 -05:00
matlabbe
40b08a359a
fixed #287 (also refer to https://github.com/introlab/rtabmap/commit/963aea5c0d6c92f598345b767171c074be7e57f9 )
2018-11-15 10:11:14 -05:00
matlabbe
e7075b3b41
fixed warnings of demo_two_kinects.launch
2018-10-19 19:10:45 -04:00
matlabbe
e9380ebf45
stereo_odometry: added bgra8 and rgba8 support
2018-10-03 18:57:38 -04:00
matlabbe
7a648a83d4
0.17.4 (added optional imu input topic to stereo odometry when a vio approach is selected, see Odom/Strategy parameter)
2018-07-23 15:58:51 -04:00
matlabbe
71f422bf5e
Updated rtabmap.launch to subscribe only once to an external rgbd_image
2018-05-29 13:00:40 -04:00
matlabbe
2fce7bf64b
Updated point_cloud_aggregator to be more flexible
2018-05-23 13:16:01 -04:00
matlabbe
68ef2245ea
obstacles_detection: fixed empty output clouds when input cloud is organized
2018-05-23 12:07:08 -04:00
matlabbe
a39ffe382c
moved stereo stuff from rgbd_sync to stereo_sync
2018-05-02 12:29:45 -04:00
matlabbe
2c64849807
Parameters backward compatibility: check for typed parameters (not only string)
2018-04-30 18:53:18 -04:00
matlabbe
cb61f33ccf
OdometryIcp: fixed local scan map transform. Other minor changes.
2018-03-17 18:27:27 -04:00
matlabbe
04b9abd1b9
Fixed build for upstream 0.16.1
2018-02-16 20:00:32 -05:00
matlabbe