matlabbe
57c9cb414c
CoreWrapper: setting RGBD/ProximityPathMaxNeighbors to 10 by default when not subscribing to any camera input (only 2d scan input)
2019-10-14 21:59:32 -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
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
b670186610
rtabmap: added local grid output topics for convenience. rviz/MapCloud: added cloud_from_scan option. point_cloud_assembler: added option to skip clouds.
2019-05-02 17:03:04 -04:00
matlabbe
c8449dff2e
rtabmap: get_plan and get_plan_nodes return poses in same frame than the one set in the goal. robot_demo_mapping.launch: increased Icp/CorrespondenceRatio to filter more not so accurate proximity detections (causing loop closures to be rejected).
2019-03-25 14:57:50 -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
matlabbe
28f640997c
Updated cloud/scan conversion to include intensity if there is
2019-02-06 18:45:29 -05:00
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
ba5738354d
Planning: if use_action_for_goal is true, wait for move_base status before sending goal status. Updated patrol.py
2019-01-15 18:12:11 -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
e0c58ebe35
Explicitly use parent frame id for tags
2018-12-10 20:22:02 -05:00
matlabbe
7e2c16d9c5
Added support for apriltags tag_bundles
2018-12-10 13:17:37 -05:00
matlabbe
9ad434e27b
0.18.3: added apriltags2 support (input topic: tag_detections)
2018-12-07 18:31:59 -05:00
matlabbe
1559d9ba8e
updated find-object with markers demo and wifi demo to correctly handle the case where only last signature data is published
2018-11-29 14:42:25 -05:00
matlabbe
801bac5221
Fixed labels not correctly published
2018-11-19 18:00:39 -05:00
matlabbe
54c455f82a
MapsManager: fixed ignored local grids with only empty cells
2018-11-16 19:20:10 -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
2b8edffc85
Updated for RTAB-Map 0.18 (saving full scan info)
2018-10-24 06:37:15 +12:00
matlabbe
1cb8ec38c9
removed not used Odom rosparam set by rtabmap node
2018-10-17 13:01:14 -04:00
matlabbe
ead97cd1ad
fixed #279
2018-10-17 11:43:38 -04:00
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
8d1664857b
Removed/added some log info
2018-09-27 16:35:14 -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
7e155a5abb
get_plan: supporting tolerance parameter
2018-07-09 15:26:39 -04:00
matlabbe
23f661827a
rtabmap: added getPlan service
2018-07-09 14:53:21 -04:00
matlabbe
739923694c
Fixed bug where map id was incremented when recovering from odometry lost
2018-06-15 16:51:44 -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
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
2c64849807
Parameters backward compatibility: check for typed parameters (not only string)
2018-04-30 18:53:18 -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
6c10d9fecf
Fixed occupancy grid not reconstructed if it was not saved in previous run
2018-04-30 13:06:25 -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
04b9abd1b9
Fixed build for upstream 0.16.1
2018-02-16 20:00:32 -05:00
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
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
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
db7118554d
demo_hector_mapping.launch: when "hector" argument is false, icp_odometry is used
2017-09-09 22:46:37 -04:00
matlabbe
bf17e7368f
creating 2d scan+normal type (CV_32FC5) when normals are computed
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