matlabbe
3c01661e07
rtabmap: don't assert on invalid tags, just print error. Added "landmarks" topic (type geometry_msg::PoseArray) and added landmark ids in labels MarkerArray.
2019-02-04 18:26:44 -05:00
matlabbe
c09eabd291
Goal msg and SetGoal srv: added frame_id parameter to specify in which frame on the robot we want the goal
2019-01-18 18:05:07 -05:00
matlabbe
dcbf84629a
CommonSubscribers: added RGB-only callbacks, added odom-only callbacks. Odom: Fixed reset_odom service assert.
2019-01-16 19:33:04 -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)
...
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
9ad434e27b
0.18.3: added apriltags2 support (input topic: tag_detections)
2018-12-07 18:31:59 -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
801bac5221
Fixed labels not correctly published
2018-11-19 18:00:39 -05:00
matlabbe
2ac46c983a
Split librtabmap_ros.so in to 3 libraries to decrease compilation time. Added scan-only common subscribers.
2018-11-14 17:51:47 -05:00
matlabbe
d81580fd46
fixed build with latest rtabmap lib code
2018-11-09 11:38:08 -05:00
matlabbe
575af5c5a1
Added /gps/fix input topic, data_player can also publish GPS and global poses if they are set in database
2018-10-24 08:53:44 +12:00
matlabbe
d0c5951b33
Fixed rtabmap node not initializing when use_sim_time is true and no clock is yet published
2018-10-02 18:06:46 -04:00
matlabbe
1a9dfaf084
data_player: added --clock argument (like rosbag). Rtabmap: Detection rate update is done using only topic stamps (added warning if stamp is null). ( #276 )
2018-09-30 15:21:05 -04:00
matlabbe
bc0a13748c
Removed not used octomap_ros dependency
2018-09-29 13:51:48 -04:00
matlabbe
5660442565
0.17.5: added grid_prob_map topic (ref #269 )
2018-08-16 14:43:54 -04:00
matlabbe
a97be68897
Fixed saved grid map wrongly cleared when RGBD/OptimizeFromGraphEnd is true
2018-08-02 17:07:48 -04:00
matlabbe
23f661827a
rtabmap: added getPlan service
2018-07-09 14:53:21 -04:00
matlabbe
1ffb287af0
Using TF to get pose when odometry message is used (msg is now used only to get covariance)
2018-06-12 14:56:47 -04:00
matlabbe
728ba7d903
Added localization_pose output topic (geometry_msgs/PoseWithCovarianceStamped) when a localization occurs
2018-05-30 15:36:55 -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
2139338b11
Added SaveObjectsExample node (added optional dependency on find_object_2d). Updated demo_find_object.launch. rtabmap: Added mutex around user data access.
2018-05-23 10:53:13 -04:00
matlabbe
d1763bd52e
Added /rtabmap/initialpose input topic, added use_saved_map parameters (default true).
2018-04-30 14:52:31 -04:00
matlabbe
75f1652194
0.17.0: Occupancy grid is automatically saved in database ( #213 ). By default on localization, rtabmap will adjust the odometry to match the latest saved localization in the database (starting automatically from where the robot shut down, #220 ).
2018-04-04 19:18:27 -04:00
matlabbe
6ec6387fc6
MapsManager: added octomap_obstacles and octomap_ground output topics
2018-03-28 19:02:31 -04:00
matlabbe
438fad643c
Updated RGBDImage msg with depth camera info, also made changes so that RGBDImage can be used also to sync stereo images.
2018-02-13 21:35:15 -05:00
matlabbe
825a556c1b
0.16.0: updated for upstream 0.16
2018-02-08 21:42:15 -05:00
matlabbe
20c5211143
Update 0.15.4.
...
rgbd_sync and rtabmap.launch: added depth_scale parameter.
Updated OdomInfo msg with memoryUsage field.
CoreWrapper: supporting GridGlobal/MaxNodes parameter, added "RtabmapROS" statistics.
MapsManager: updated when occupancy grid is updated.
2018-02-01 22:16:13 -05:00
matlabbe
8860afbc83
rgbd_odometry: fixed delay between input and output when 1 camera is used (queue_size should be 1) causing synchronization problems with depending nodes. rtabmap: handling odomInfo is subscribed (save odom statistics in database).
2017-12-21 10:29:26 -05:00
matlabbe
ea5707e267
rtabmap 0.15.3 now required. icp_odometry: added scan_downsampling_step parameter. OdometryROS: fixed too old tf stamps when guess and minimum motion are set.
2017-12-13 18:16:07 -05:00
matlabbe
d7db848dad
backward compatibility hydro
2017-10-27 10:06:05 +02:00
matlabbe
a0e2596cd2
rtabmap: scan_cloud_normal_k and scan_normal_radius removed. odometry: added guess_min_translation, guess_min_rotation and scan_voxel_size parameters. data_recorder.launch: updated to support rgbd_image and scan_cloud inputs.
2017-09-19 14:27:41 -04:00
matlabbe
fe968e5d40
OdometryROS: removed guess_from_tf parameter, guess_frame_id is the odometry guess frame (not base frame)
2017-09-09 22:46:37 -04:00
matlabbe
4d0423c538
0.13.3: scan2d normal support
2017-09-09 22:46:37 -04:00
matlabbe
960d9718e9
rtabmap: added mapPath output topic
2017-08-18 15:07:56 -04:00
matlabbe
e944786ee5
rtabmap: supporting RGB+camera_info only with in RGBD/Enabled=true and Mem/IncrementalMemory=false (used to localize using only RGB against a prebuilt map)
2017-07-10 12:17:17 -04:00
matlabbe
341c4bd8aa
Merge branch 'devel' of https://github.com/introlab/rtabmap_ros
2017-06-26 13:12:15 -04:00
matlabbe
ba7c4c50ca
fixed #175
2017-06-01 13:08:28 -04:00
matlabbe
b6b5a1795e
rtabmap: Added global_pose input topic (can be used to add GPS/global localization values for graph optimization using g2o)
2017-05-23 17:47:56 -04:00
matlabbe
f81edcf790
Fixed build for rtabmap 0.13.0
2017-05-23 16:31:06 -04:00
matlabbe
77f0172942
Added RGBD3 and RGBD4 callbacks
2017-05-17 17:40:48 -04:00
matlabbe
3126515c6b
Missing changes in OdometryROS.h header
2017-05-17 16:07:51 -04:00
matlabbe
3d5b86500b
rtabmap 0.12.15 required, updated Grid parameters (removed grid_cell_size #161 )
2017-04-10 17:17:48 -04:00
matlabbe
ed3508fe4b
Added OdomInfo + scan2d/scan3d synchronization interface
2017-04-02 16:55:38 -04:00
matlabbe
22c63924ca
sync with rtabmap 0.12.3
2017-03-12 21:47:22 -04:00
matlabbe
da17d02791
MapsManager: added parameter map_negative_scan_empty_ray_tracing
2017-02-24 15:37:30 -05:00
matlabbe
2739ddf771
Added user data usage example with wifi signal
2017-02-22 14:43:16 -05:00
matlabbe
d5144f292f
Added "odom_tf_angular_variance" and "odom_tf_linear_variance" parameters for rtabmap node when TF is used for odometry
2017-02-08 15:16:29 -05:00
matlabbe
ea859291ed
fixed MapsManager's topics not remapped when using rtabmap nodelet
2016-10-18 11:49:56 -04:00
matlabbe
24d113fb8f
MapsManager: Don't ignore latest signature (-1) if the grid is created from 2D laser scans (so that empty space can be filled for the latest data)
2016-10-11 18:18:53 -04:00
matlabbe
db91736443
Added rtabmap_ros/rtabmap nodelet #96 and test_rtabmap_nodelets.launch file as an example
2016-09-30 16:21:06 -04:00
matlabbe