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
af1c7edeef
Merged master to ros2. ros2: Uniformized qos of all subscribers and publishers.
2021-10-04 19:29:19 -04:00
matlabbe
11d8ebc339
initial port of rtabmap.launch.py
2021-07-11 19:49:07 -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
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
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
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
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
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
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
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
3126515c6b
Missing changes in OdometryROS.h header
2017-05-17 16:07:51 -04:00
matlabbe
5119b3ab90
Added warning after 10 seconds if any callback has not been called since the start (rtabmap, rtabmapviz and odometry nodes).
2016-09-28 12:08:11 -04:00
matlabbe
d6377eb513
OdomInfo msg: added local scan map field. OdometryROS: publishing odom_local_scan_map
2016-08-08 14:37:32 -04:00
matlabbe
050cf91df3
Added icp_odometry and rgbdicp_odometry nodes
2016-08-07 20:55:59 -04:00
matlabbe
e5eba34d20
Updated pull request https://github.com/introlab/rtabmap_ros/pull/104 to use Odometry::getType()
2016-08-01 15:27:50 -04:00
Di Zeng
500fe3b8ae
moved all the header file into include
2016-07-27 16:44:48 -07:00
matlabbe