matlabbe
35639248b9
Fixed crash with odometryF2F by cloning input images, creating a new map when variance >=9999 is detected, implemented intermediate nodes in ROS
2016-02-18 11:19:35 -05:00
matlabbe
352010cd2d
Added ground_truth_frame_id to rtabmap node (to save ground truth in nodes)
2016-01-12 16:07:15 -05:00
matlabbe
27d40dee2b
Added "scan_cloud" topic (PointCloud2 type) with "subscribe_scan_cloud" parameter to rtabmap and rtabmapviz nodes.
2015-11-26 16:06:42 -05:00
matlabbe
aa05bc4672
Added "log_debug", "log_info", "log_warning" and "log_error" services
2015-11-19 12:26:29 -05:00
matlabbe
94c7928321
Fixed issue #40 : RtabmapGlobalPathEvent build error
2015-10-27 09:31:05 -04:00
matlabbe
d4fe741eb0
Refactored goalCommonCallback(...). Added Patrol.py script.
2015-09-23 12:12:59 -04:00
matlabbe
00f04e62c0
The global path topic is transformed in latest robot referential as the robot moves
2015-09-21 18:15:20 -04:00
matlabbe
da58edf73a
Updated to 0.10.8: rtabmapviz can receive goals (new topic /rtabmap/goal_node, ne msg rtabmap_ros::Goal) synchronized with global path
2015-09-21 16:37:35 -04:00
matlabbe
5edae82d98
Added MapGraph message to avoid MapGraphDisplay to subscribe to MapData (which can contain node data not used by MapGraphDisplay, that also limit the bandwidth used when MapCloudDisplay and MapGraphDisplay are added to RVIZ)
2015-09-15 16:40:07 -04:00
matlabbe
0dd1d5721b
Added "wait_for_transform_duration" (default 0.1 s) parameter to rtabmap, rtabmapviz and odometry nodes
2015-08-14 15:01:51 -04:00
matlabbe
0a40895830
Added "cancel_goal" service
2015-06-21 20:17:31 -04:00
matlabbe
fae3e2fd6d
removed goal_global topic subscription (to send a global goal, use set_goal service instead)
2015-06-21 18:30:29 -04:00
Mathieu Labbe
96d3ad35e2
Added multi-cameras demo: demo_two_kinects.launch
2015-05-31 01:28:54 -04:00
Mathieu Labbe
fcd343cdd9
Updated for rtabmap 0.10.0 (multi-cameras)
2015-05-30 20:08:20 -04:00
Mathieu Labbe
927c80d356
CoreWrapper.cpp: Moved map generation stuff in MapsManager class (that reduces a little the memory used for the compilation of CoreWrapper.cpp).
2015-05-14 02:16:19 -04:00
Mathieu Labbe
550655c887
Added tf2_ros dependency
2015-05-14 00:42:21 -04:00
Mathieu Labbe
c5629e2cfb
merged changes
2015-05-03 18:29:22 -04:00
Mathieu Labbe
db4b4a9397
Updated for rtabmap 0.8.12. Updated synchronization of messages (laser scan and images) with odometry pose stamp. Removed data_recorder node, use data_recorder.launch instead.
2015-05-03 18:23:56 -04:00
matlabbe
5f2399b8ab
Made costmap_2d and octomap_ros optional
2015-05-01 13:41:08 -04:00
Mathieu Labbe
55ce1db43a
Updated for rtabmap 0.8.11. Sync odometry TF with laser scan timestamp instead of the image timestamp.
2015-05-01 07:35:21 -04:00
Mathieu Labbe
1528fb1cb4
removed "scan_inf_is_valid" parameter
2015-03-27 19:03:11 -04:00
Mathieu Labbe
a0bd43b9cf
added "scan_inf_is_valid" parameter
2015-03-27 18:20:06 -04:00
Mathieu Labbe
0d2faabde6
Added "/rtabmap/backup" service
2015-03-20 15:17:01 -04:00
Mathieu Labbe
227dc7c1ba
Grid: added "grid_eroded" parameter
2015-03-20 14:04:14 -04:00
Mathieu Labbe
83a39fb3ea
added rtabmap/list_labels service, added labels to MapGraph msg, rtabmap node publishes labels as visualization_msgs/MarkerArray
2015-03-06 16:17:09 -05:00
Mathieu Labbe
3318e0adf2
Navigation: wait until the last node is reached before sending the pose from the last node
2015-03-05 15:26:50 -05:00
Mathieu Labbe
235c103f70
Updated to RTAB-Map 0.8.5: Added node labeling service, and set goal by label
2015-02-27 15:26:30 -05:00
Mathieu Labbe
6020b60926
updated package to rtabmap 0.8.4. Fixed not saved database on exit (bug introduced with the last commit).
2015-02-24 16:08:08 -05:00
Mathieu Labbe
f52c34746e
If odom_frame_id is set, rtabmap will use TF instead of the odometry topic
2015-02-23 18:27:53 -05:00
Mathieu Labbe
ac23d063a4
Added octomap services to rtabmap node
2015-02-20 19:00:31 -05:00
Mathieu Labbe
dcee7ef2e2
updated to latest planning changes from the rtabmap's library
2015-02-17 17:31:03 -05:00
Mathieu Labbe
c139c263db
rtabmap node publishes now directly /rtabmap/cloud_map, /rtabmap/proj_map and /rtabmap/grid_map (added all related rosparam), update grid_map_assembler node with the new efficient way of creating map
2015-02-11 17:09:29 -05:00
Mathieu Labbe
73bdbfc0c2
Added move_base actionlib to set goal with feedback
2015-02-06 15:27:02 -05:00
Mathieu Labbe
cd4975849a
Pose goals can be sent directly to rtabmap node, Added SetGoal service (set target node id)
2015-02-06 13:56:20 -05:00
Mathieu Labbe
0b67fe4e3b
MsgConversion.h: added conversion of rtabmap_ros/Info messages from/to rtabmap::Statistics
...
rtabmapviz: added subscription to stereo.
Updated demo_stereo_outdoor.launch with arguments to choose between rtabmapviz and rviz
Added localPath array in rtabmap_ros/Info message
rtabmap: publishing the local path, uniformized time stamps between published topics at each iteration
2015-02-03 11:16:06 -05:00
Mathieu Labbe
d764ca5ba3
Merged planner node into rtabmap node
2015-01-30 15:31:44 -05:00
Mathieu Labbe
b62a3e3a6c
Keeping highest odometry variance between two rtabmap updates. Fixed map id increment on odometry reset (identity pose was missed because of the high rate of odometry).
2014-12-18 16:58:23 -05:00
Mathieu Labbe
dfe5cff0c0
Updated ros-pkg for RTAB-Map 0.8.0
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Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap"
Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h)
Added noise filtering parameters for map_assembler node
Added variance parameter for map_optimizer node
Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
2014-12-14 16:44:13 -05:00
Mathieu Labbe
aa8aa24e5d
Added rgbdslam_datasets.launch example to run RGBD SLAM datasets with RTAB-Map. Added "wait_to_transform" parameter (bool) to all nodes calling lookUpTransform()
2014-12-03 22:35:43 -05:00
Mathieu Labbe
68c23a709e
updated rtabmap ros-pkg name to rtabmap_ros
2014-11-25 17:13:15 -05:00
matlabbe
c872819a54
ros-pkg: rtabmap node: added "stereo_approx_sync" parameter (default false)
...
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2003 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-11-14 19:16:16 +00:00
matlabbe
52c6bd60eb
ros-pkg: Added ResetPose.srv for odometry service "reset_odom_to_pose" to set intialial pose. Updated some method interfaces with latest library changes from trunk.
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1931 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-10-28 01:23:52 +00:00
matlabbe
ae38cd2a54
ros-pkg: added stereo_throttle plugin
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1895 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-10-17 17:52:37 +00:00
matlabbe
8bd2447ca8
ros-pkg: updated with new RTAB-Map stereo features
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1862 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-10-16 00:17:11 +00:00
matlabbe
c0b0219e9e
ros-pkg:
...
-visual_odometry node is now called rgbd_odometry
-added stereo_odometry node with test launch files
-updated launch files accordingly to modified parameter names, default values or new parameters
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1850 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-10-13 19:14:30 +00:00
matlabbe
ae19ddf5af
ros: added MapGraph rviz plugin to show trajectory, added ros service PublishMap
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1682 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-09-22 18:04:29 +00:00
matlabbe
8c4e4b6188
ros-pkg: added disparity_to_depth nodelet
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Aded new demo using stereo disparity instead of Kinect depth: launch/demo/demo_stereo.launch
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1654 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-08-18 23:16:16 +00:00
matlabbe
36c647e6fe
ros-pkg: added publish_map service to rtabmap node. Updated demo_find_object.launch with higher icp2d constraints
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1645 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-08-13 19:25:44 +00:00
matlabbe
d3db667603
Updated license to BSD
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1634 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-08-11 17:03:39 +00:00
matlabbe
1f28f57d5f
ros: updated for RTAB-Map 0.7 (depthConstant->fx,fy,cx,cy) fixed issue 12
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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1617 f169173b-cf89-36c8-b27e-44dbe73f0c83
2014-07-28 14:25:05 +00:00
matlabbe