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693 Commits 27 Branches 136 Tags
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Commit Graph
152 Commits
Author SHA1 Message Date
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 0ffb5c4b31 Added warning when move_base tells it reached current goal which is not the last 2015-02-23 16:24:52 -05:00
Mathieu Labbe ac23d063a4 Added octomap services to rtabmap node 2015-02-20 19:00:31 -05:00
Mathieu Labbe b3e3c9dbb3 updated on rtabmap trunk 2015-02-20 15:34:00 -05:00
Mathieu Labbe 9c823cb93e updated planning fail msg when the local map is broken 2015-02-18 16:58:21 -05:00
Mathieu Labbe 22f2246a05 removed displacement too small warning when the robot is not moving 2015-02-17 18:54:08 -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 0172b28a07 sending current pose even if use_action_for_goal is true 2015-02-06 18:07:49 -05:00
Mathieu Labbe d81a9cef23 updated warning when goal is already reached 2015-02-06 17:39:27 -05:00
Mathieu Labbe 8f903eaff1 updated when goal_reached is sent 2015-02-06 16:59:10 -05:00
Mathieu Labbe ddddd70d66 updated goal action feedback 2015-02-06 16:28:28 -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 2bf43ac444 changed atof() to uStr2Float() 2015-02-04 21:25:44 -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 78307669b3 fixed '~' character handling in database_path parameter 2015-01-27 13:34:53 -05:00
Mathieu Labbe 30e3b94eb0 fixed parsing double ROS parameters 2015-01-21 13:57:57 -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 
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 073c23c615 Fixed issue #2 2014-12-01 14:00:19 -05:00
Mathieu Labbe 68c23a709e updated rtabmap ros-pkg name to rtabmap_ros 2014-11-25 17:13:15 -05:00
matlabbe 5b41c2add5 ros-pkg: updated demo_robot_mapping.launch (fixed local loop lcosure detection not working at the end of the sequence because optimization was done outside) 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2051 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-11-19 23:41:11 +00:00
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 472596ac8e ros-pkg: added all remaining data contained in Signature into NodeData msg 
map_optimizer doesn't need anymore to explicitly disable optimization in rtabmap node, thought it is still recommended to disable it to avoid double optimization...

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1941 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-30 14:48:31 +00:00
matlabbe f122090620 updated for compressed cv::Mat data format 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1938 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-28 19:59:19 +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. 
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 b3933881ce ros-pkg: refactoring, updated rtabmap ROS msgs for easier processing (new NodeData.msg). 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1929 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-26 21:49:30 +00:00
matlabbe 2d6c8faaa5 ros-pkg: added map_optimizer node 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1897 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-18 00:00:42 +00:00
matlabbe 8bd2447ca8 ros-pkg: updated with new RTAB-Map stereo features 
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 2599e3ecfb ros-pkg: updated az3 stereo launch file with optimization 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1856 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-14 21:53:46 +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 fcf92d90e5 Stereo: added subpixel kpts processing, added test_stereo_odometry.launch 
CoreWrapper: Fixed corrupted image when reextracting features

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1847 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-10-08 00:43:05 +00:00
matlabbe ae19ddf5af ros: added MapGraph rviz plugin to show trajectory, added ros service PublishMap 
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 
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 
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 
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 
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 5ac64bd223 ros: added mono16 supported image input 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1586 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-22 19:00:06 +00:00
matlabbe 0ff26fc13e For all input images, cvBridge encoding set to "bgr8" 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1562 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-14 20:53:04 +00:00
matlabbe 0bd7f67bd2 ros: modified core to send only latest data in /mapData messages 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1545 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-11 21:45:50 +00:00
matlabbe b492c4678a Added Image display in rgbd.rviz 
rviz plugin:  fixed assertion on Ogre::AxisAlignedBox: Assertion "(min.x <= max.x && min.y <= max.y && min.z <= max.z) && The minimum corner of the box must be less than or equal to maximum corner"
rviz plugin: added node_filtering_radius and node_filtering_angle properties for cloud filtering
rtabmap-ros: added set_mode_localization and set_mode_mapping services

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1489 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-09 21:12:24 +00:00
matlabbe ed3fd48baa ros: added local nodes count on rtabmap terminal status 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1487 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-09 18:10:58 +00:00
matlabbe b9673f6657 ros: added more timing info on rtabmap status in terminal 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1486 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-09 18:05:02 +00:00
matlabbe 4d557e6a50 ros: Added rtabmap/GetMap service, removed MapData from InfoEx msg 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1459 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-06 19:58:15 +00:00
matlabbe 4384dead67 Added RVIZ plugin "MapCloud" to show incrementally point clouds of the map in RVIZ 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1455 f169173b-cf89-36c8-b27e-44dbe73f0c83
 2014-07-04 23:12:34 +00:00