matlabbe
d3bd53a044
merged master->ros2
2022-12-10 14:37:39 -08:00
matlabbe
e34ea3e0b3
odom: Added min_update_rate parameter
2022-12-05 20:56:29 -08:00
matlabbe
16875b4ad5
merged master->ros2
2022-12-04 18:11:37 -08:00
matlabbe
89f46c10d1
Added log_to_rosout_level option (to redirect some internal rtabmap's logs to rosout, default disabled)
2022-11-28 16:02:54 -08:00
matlabbe
5c3c269652
merged master->ros2
2022-11-27 16:21:59 -08:00
matlabbe
44bbaa2cef
Added lidar_deskewing node and nodelet. Added "deskewing" option for icp_odometry. Updated velodyne and ouster examples with deskewing option. Added velodyne+T265 deskewing example.
2022-10-16 21:36:11 -07:00
matlabbe
99b9891ab8
merged master->ros2
2022-10-01 18:09:19 -07:00
mathieu86
c4a6fba8e8
odom: publish TF odom correction when lost if guess frame is provided
2022-06-09 11:34:45 -07:00
matlabbe
3a025d9e75
Odom: on odom auto reset (Odom/ResetCountdown), if guess_frame_id is set, reset pose accordingly to guess frame since it got lost.
2022-03-11 15:18:34 -08:00
matlabbe
096d8731b4
Added gazebo_ground_truth.py. Odom: fixed ground truth init when imu is also used.
2022-02-06 17:15:47 -05:00
matlabbe
b606a54f45
Fixed tf2_eigen missing from package.xml. Added "qos" parameter for all nodes subscribing to sensor data ( #651 ).
2021-11-08 18:36:19 -05:00
matlabbe
ab1288cccc
Merge master->ros2 ( fixed #674 )
2021-11-03 12:05:28 -04:00
matlabbe
206a02c189
Updated for rtabmap 0.20.15.
2021-10-29 20:07:17 -04:00
matlabbe
fb1200c8f1
Fixed timestamp conversion. Srv: changed "global" member to "global_map" (python reserved word). CoreWrapper: fixed imu subscription.
2021-10-05 13:53:13 -04:00
matlabbe
af1c7edeef
Merged master to ros2. ros2: Uniformized qos of all subscribers and publishers.
2021-10-04 19:29:19 -04:00
matlabbe
fd0eb4f62c
OdomInfo msg: changed type of localScanMap (to fix long compression issue). Updated test_velodyne.launch to make floam working with kitti bags
2021-09-24 11:34:23 -04:00
matlabbe
533669dca7
rtabmap parameters are now private. rtabmapviz has now a parameter "rtabmap" (rtabmap node name) to get/set parameters. Added clear_params option (default true) to rtabmap.launch. This fixes http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rosmon-is-not-running-twice-td8373.html
2021-09-08 15:41:32 -04:00
matlabbe
11d8ebc339
initial port of rtabmap.launch.py
2021-07-11 19:49:07 -04:00
matlabbe
b9c7efdc8a
Added assert on PointCloud2 format ( #560 ). rtabmap.launch: added gdb option for convenience.
2021-03-27 21:51:06 -04:00
matlabbe
e75d035d99
Added odom_info_lite topic (same as odom_info but without data). Optimized intermediate nodes processing time by avoiding converting all data in odom_info message.
2021-03-24 17:40:54 -04:00
matlabbe
6e34cde8e6
Updated demo_hector_mapping.launch with max_range, pm and p2n options. Odometry: added postProcessData() function (used by icp_odometry to republish filtered scan after odometry processing)
2021-03-20 19:59:38 -04:00
matlabbe
16d0a00992
fixed a log message
2021-03-04 11:14:19 -05:00
matlabbe
931e2ac48f
Fixed #525
2021-03-02 20:35:47 +00:00
matlabbe
688584db65
Fixed ros2 build with latest rtabmap library ( #544 )
2021-03-02 16:42:08 +00:00
matlabbe
fbd4a144ae
Odom: Updated with latest rtabmap changes
2021-03-01 19:28:13 -05:00
matlabbe
5a0ddaf9f5
OdometryROS: set initial pose to guess transform when provided.
2021-02-01 11:34:26 -05:00
matlabbe
ada3e7082c
Increased minimum rtabmap version to 0.20.7. Updated OdomInfo msg with localScanMapFormat (fixed intensity channel wrongly converted to rgb). rtabmap.launch: Show in rviz filtered scan from odometry if icp_odometry is true. rtabmapviz: fixed hanging shutdown after a ctr-c. OdometryROS: can now publish local scan map with intensity channel. icp_odometry: fixed intensity ignored if voxel size is set.
2020-11-28 17:28:45 -05:00
matlabbe
c20e38b11e
Added support to use local keypoints and descriptors from RGBDImage. OdometryROS: added new output topic odom_rgbd_image with features extracted.
2020-11-05 16:38:08 -05:00
matlabbe
905e8ada99
Updated for rtabmap 0.20.5
2020-10-12 21:51:47 -04:00
matlabbe
c23dbbc249
Updated for rtabmap 0.20.5. OdometryROS: Fixed odometry stamps slightly off when subscribing to IMU (causing exact sync problems on rtabmap/rtambapviz side).
2020-10-12 21:20:32 -04:00
mirellameelo
dea88211de
updating files to build ros package with rtab-map lib v0.20.3
2020-10-04 21:02:53 -03:00
matlabbe
797ac65284
OdometryROS: added more info to imu/data sync error log
2020-08-31 14:51:58 -04:00
matlabbe
e96f72d4ab
fixed #450
2020-08-06 09:15:28 -04:00
matlabbe
ae854dfb4c
OdometryROS: refactored imu sync ( #331 ). Using tf to compute baseline if Rtabmap/ImagesAlreadyRectified is true (for convenience with realsense rectified IR images but right camera info Tx not set)
2020-07-30 12:43:44 -04:00
matlabbe
cc79e19b1f
Odometry: added max_update_rate option.
2020-05-20 15:10:17 -04:00
matlabbe
f034bf4e91
Odom: reset buffered guess only after when we recovered from being lost
2020-04-26 23:28:13 -04:00
matlabbe
ed8f2693f5
CoreWrapper: setting imu local transform
2020-04-10 19:27:58 -04:00
matlabbe
b3d53e0833
Odometry: fixed roll/pitch ignored from transform base_link to imu link
2020-04-09 19:26:00 -04:00
matlabbe
aec4fe6bcc
Added RTABMAP_SYNC_USER_DATA (default OFF) and RTABMAP_SYNC_MULTI_RGBD (default ON, OFF on windows) build options. Fixed some compilation errors on Windows.
2020-03-12 01:03:35 -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
8a3af1d14f
updated rtabmap.launch to be able to do lidar-only slam
2020-02-20 16:05:09 -05:00
matlabbe
e6ea46f5f0
created ros2 branch
2020-01-30 17:18:48 -05:00
matlabbe
29ccfe56cd
OdometryROS: make sure we received imu (with same or future stamp) before processing data.
2019-09-15 17:29:11 -04:00
matlabbe
34c75139f2
added test_d435i_vio.launch example (VINS-Fusion integration)
2019-08-15 16:45:35 -04:00
matlabbe
48bcda84ab
Added imu input topic to rtabmap node. Updated for rtabmap 0.19.3.
2019-05-31 19:35:49 -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
05de922992
Odom: subscribe imu if MSCKF and Okvis type is selected
2019-02-21 15:16:07 -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