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202 Commits
Author SHA1 Message Date
matlabbe af1c7edeef Merged master to ros2. ros2: Uniformized qos of all subscribers and publishers. 2021-10-04 19:29:19 -04:00
matlabbe ccf152d877 rtabmap.launch.py: fixed wrong relay remap names when compressed is false. Fixed warnings showing the base topic names and not the remap names. Added rtabmap.launch.py usage in example launch files. Install rtabmap.launch.py. 2021-10-01 18:48:45 -04:00
matlabbe 1d60861ffb Updated rviz deps location in cmake 2021-09-21 10:40:49 -04:00
Windel Bouwman 176e76bfc1 Fix logic when building without rviz. 2021-09-21 10:57:30 +02:00
matlabbe a324562ee0 Increased required rtabmap version to 0.20.14. Added detect_more_loop_closures, global_bundle_adjustment and cleanup_local_grids services. rviz MapCloud: added "Download namespace" parameter. 2021-09-11 11:39:11 -04:00
matlabbe a34ec109ef Fixed #637 (bug introduced by this commit https://github.com/introlab/rtabmap_ros/commit/31da18478308689fdecfdab58c8505c558d61777 for kinetic) 2021-09-05 17:43:50 -04:00
matlabbe 31da184783 cmake min c++11 2021-09-01 11:29:13 -04:00
matlabbe 9d01369394 Merge pull request #625 from nobleo/fix/rtabmap_point_cloud_aggregator 
Add aggregator executable
 2021-08-24 11:32:58 -04:00
Tim Clephas 5794bb166e Add aggregator executable 2021-08-12 11:24:05 +02:00
matlabbe 523b001ca3 Added RGBDImages msg. Added rgbdx_sync to sync up to 8 cameras. For rtabmap node, rgbd_cameras=0 means subscribing to a rgbd_images topic (containing N cameras). 2021-08-02 17:47:30 -04:00
Tim Clephas f002a16e6e Add tf2_eigen dependency 2021-07-09 08:52:26 +02:00
matlabbe ec9c3f236c 0.20.13: Refacoring MsgConversion by using laserScanFromPointCloud() from rtabmap library. 2021-06-27 19:37:07 -04:00
matlabbe 8a02275336 Updated rtabmap required version: 0.20.11 2021-05-27 22:58:36 -04:00
matlabbe 761d8d6129 Increased rtabmap dependency min version to 0.20.10 2021-05-21 17:51:18 -04:00
matlabbe 1d06173fc8 rtabmap: Added load_database service to create or load a database without killing the node. 2021-03-27 01:02:00 -04:00
matlabbe f24e9077a4 Increased rtabmap library requirement to 0.20.9 (refactored scan only mapping) 2021-01-24 13:23:42 -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 646ad6ee7b Added rgb_sync nodelet. Added sync rgbd5 and rgbd6 callbacks. Removed OdomInfo from sync callbacks having both camera and lidar. Added BAYER_RGGB8 support. point_cloud_assembler: added output frame_id option. 2020-11-03 16:18:40 -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
matlabbe f7f9e82cb1 Added get_nodes_in_radius service (https://github.com/introlab/rtabmap/issues/595) 2020-09-28 12:09:25 -04:00
matlabbe e919f66640 costmap_2d: fixed voxel_layer memory corruption (and refactored to make it easier to compare with original version). Added voxel_marker node with option to show occupied, free or unknown cells of a voxel grid msg. 2020-08-27 18:25:15 -04:00
matlabbe ba3d75d9ee Added netvlad_tf_ros.py script, added compression.py script to compress/uncompress data from rtabmap 2020-07-28 13:35:41 -04:00
matlabbe d771ff566f Added d400 launch example #439 2020-07-28 12:52:09 -04:00
matlabbe d5182859a5 Added EnvSensor msg. Wifi example: added max,min,hue_symbol parameters. 2020-07-22 14:38:02 -04:00
matlabbe 18b8acc2ea Added wifi_signal_pub.py example 2020-07-15 15:38:05 -04:00
matlabbe 83c40d079d Added get_map_data2 service (for fine selection of data wanted) 2020-06-22 22:57:15 -04:00
matlabbe 62650c2f4e ros2: fixed build with rtabmap 0.20.0 2020-06-05 14:08:50 -04:00
matlabbe 6f8b8b2917 cleanup usage of catkin_install_python 2020-06-02 17:40:52 -04:00
matlabbe 148c46deab Added catkin_install_python() for noetic (#424) 2020-06-02 16:57:41 -04:00
matlabbe d43bc7697a Added get_node_data service 2020-05-05 13:25:45 -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 e641960450 point_cloud_assembler: optimized time to assemble final cloud, added circular_buffer option. 2020-04-13 19:11:41 -04:00
P. J. Reed 160ac38e06 Use project name as basename for interfaces 
As noted by Dirk Thomas in ros2/rosidl#441, libraries for generated
interfaces must use ${PROJECT_NAME} as their basename.  This PR
modifies rtabmap_ros so that it does so.

It also tweaks a couple of rosdep keys because nav2_common was used in
some launch files but not included, and message_runtime does not exist
in ROS 2.

Fixes #397
 2020-04-03 14:46:22 -05:00
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 2c5cf1a6b3 ported point_cloud_assembler node 2020-02-12 14:33:19 -05:00
matlabbe 68c62d05bb Added point_cloud_aggregator node 2020-02-12 13:51:04 -05:00
matlabbe 231418e098 Added add_link service and external_loop_detection_example node 2020-02-11 23:36:56 -05:00
matlabbe e6ea46f5f0 created ros2 branch 2020-01-30 17:18:48 -05:00
matlabbe d80a66a724 Patch for issue #382 2020-01-16 15:21:13 -05:00
Prescillia e7d940b3ab Added rtabmap_ros plugin interface 2019-12-11 12:29:24 -05:00
matlabbe c3d339e9fc Split plugins lib to rviz and costmap libs 2019-11-13 15:27:20 -05:00
Prescillia 420d7403dd Voxel layer from costmap_2d package takes into account robot z position 2019-11-05 15:37:49 -05:00
matlabbe e6e7df5beb Install rgbd_sync and rgbd_relay nodes 2019-09-14 00:06:42 -04:00
matlabbe f5a51aa87f updated demo_find_object.launch with save_objects_as_landmarks argument. Added script objects_to_tags.py. Scripts are now installed in binaries. Updated tag conversion to use frame_id/stamp included in detection array instead of parent if set. 2019-08-09 21:52:01 -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 2ab15ec3b9 Updated apriltags2_ros to new apriltag_ros package 2019-06-20 15:24:09 -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 6d149cd9bc rtabmap: updated list_labels service to return also node ids, added get_plan_nodes service to get path AND node ids 2019-03-19 16:06:04 -04:00
matlabbe 7c104cf1b9 Added rtabmap_ros/Path msg. rtabmap: added new output topics global_path_nodes and local_path_nodes (nodes ids + poses of the planned path) 2019-03-19 15:26:07 -04:00