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681 Commits
Author SHA1 Message Date
matlabbe 8a75963739 stereo_odometry: for rgbd_image input, make sure all image data are copied in callback. 2021-11-24 10:02:45 -05:00
matlabbe 4f4f72837d GUI: fixed stereo odom images flickering, bug introduced by this commit https://github.com/introlab/rtabmap_ros/commit/23c06875b9369988a2815edb915cd1eade85031a. See also http://official-rtab-map-forum.206.s1.nabble.com/Stereo-odometry-switching-between-left-and-right-image-td8719.html 2021-11-24 09:07:07 -05:00
matlabbe 206a02c189 Updated for rtabmap 0.20.15. 2021-10-29 20:07:17 -04:00
matlabbe 42fca441ff Fixed build with RTABMAP_SYNC_USER_DATA=ON. Fixed wordids!=descriptors error #659 when Mem/RawDescriptorsKept is false 2021-10-25 17:32:13 -04:00
matlabbe eb297e147f Fixed OctoMap cmpil error when rtabmap is not built with OctoMap dep (https://github.com/introlab/rtabmap/issues/759#issuecomment-948766713). stereo_odometry: added check for identity stereo transform (same frame used for left and right). 2021-10-21 15:25:44 -04:00
Dominik Klein 9ee61b9a27 Bugfix Corewrapper::globalBundleAdjustmentCallback 
Fixed wrong order of arguments in the call to Rtabmap::globalBundleAdjustment method.
 2021-10-14 10:40:16 +02:00
matlabbe 6ac2dcd918 Fixed rgbd_image/scan_descriptor not subscribing at the same time. point_cloud_xyzrgb: added RGBA8 encoding support for stereo images. 2021-10-06 09:59:15 -04:00
matlabbe 3288c56151 OodmInfo msg: Added local bundle key frames 2021-09-30 15:04:03 -04:00
matlabbe 2c144400ed Merge pull request #649 from nobleo/fix/point_cloud_aggregator 
[point_cloud_aggregator] pointrow_step of tmp_output should depend on size of tmp_output
 2021-09-27 19:30:33 -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
Tim Clephas 5a975e7cc1 row_step of tmp_output should depend on size of tmp_output 2021-09-22 19:50:29 +02:00
Rui P. Figueiredo 1e4ce5820e Merge pull request #2 from ruipimentelfigueiredo/melodic-devel 
Melodic devel
 2021-09-19 11:58:12 +02:00
matlabbe d21842408d rtabmap: added republish_node_data input topic to request rtabmap to republish data of some nodes. max_nodes_republished parameter (default 2) limits the number of nodes republished at each update. 2021-09-13 18:22:56 -04:00
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 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 cfff133ee8 point_cloud_assembler: use rtabmap voxel filter (at cost of having to convert 2 times the assembled cloud) if there is an integer overflow 2021-08-31 15:54:07 -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 d8c71cdc3d Add actual executable that loads the aggregator 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
matlabbe d2465851de camera info conversion: Handling distortion with more than 8 coefficients 2021-07-31 10:05:42 -04:00
matlabbe d7a33b86ed Check inf values in odom topic (convert them to 1 if Reg/Force3DoF is true for convenience instead of asserting). Added support for size of tags. 2021-07-30 09:46:22 -04:00
ruipimentelfigueiredo f1ef801df2 bug fix 2021-07-08 17:01:44 +02:00
ruipimentelfigueiredo 9a004836b0 added support for 5 camera odometry 2021-07-08 16:14:15 +02:00
matlabbe 35f31634a6 point_cloud_assembler: added remove_z option to remove z field from output assembled cloud (for convenience when assembling 2D clouds). 2021-06-27 22:57:51 -04:00
matlabbe ec9c3f236c 0.20.13: Refacoring MsgConversion by using laserScanFromPointCloud() from rtabmap library. 2021-06-27 19:37:07 -04:00
matlabbe 4304bae9f6 rtabmap: support rgbd_image without rgb/depth data (only features set). 2021-06-27 10:50:17 -04:00
matlabbe ed2451c351 point_cloud_assembler: added linear_update and angular_update parameters. Demo robot: increased icp correspondence distance to 0.15 (fixed proximity icp not converging enough) 2021-06-27 10:07:19 -04:00
matlabbe a9e1202667 Gui: removed tf_prefix parameter (related to https://github.com/introlab/rtabmap_ros/commit/18d09f0405a2e626034feade52dda9c0333ecfc9) 2021-06-14 14:15:34 -04:00
matlabbe 8a02275336 Updated rtabmap required version: 0.20.11 2021-05-27 22:58:36 -04:00
matlabbe 4c2d24dafb Merge branch 'master' of https://github.com/introlab/rtabmap_ros into addFloodFill 2021-05-27 22:57:14 -04:00
chameau5050 2473791891 move flood fill to octomap::uptade() 2021-05-27 13:42:16 -04:00
matlabbe cbe1d8ccff Removed modulo RGB vs Depth size (#584), as now supported from rtabmap library since https://github.com/introlab/rtabmap/pull/534 2021-05-24 10:14:02 -04:00
matlabbe ae4778b89c fixed "path.size()=0!? nearestId=1 ids=1, aborting..." warning when Rtabmap/CreateIntermediateNodes is true and proximity detection is enabled. 2021-05-21 17:46:19 -04:00
matlabbe f96591e030 rtabmap: added odom_frame_id_init parameter 2021-05-20 22:41:45 -04:00
MarcLeclercGit 84ac70077c add a flood fill filter 2021-05-07 10:52:43 -04:00
matlabbe 23c06875b9 Added stereo support for TYPE_8UC1 encoding and "Kannala Brandt4" (fisheye) distortion model (OpenLORIS). 2021-04-02 19:08:58 -04:00
matlabbe 56e1d6335e Fixed point_cloud_aggregator output cloud's step_row 2021-03-31 10:17:44 -04:00
matlabbe 7ab760f9e5 point_cloud_assembler: fixed output cloud format when input is organized clouds (#560) 2021-03-28 00:17:53 -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 e7dd6cacbf Preferences: backward compatibility with Icp/PM (bool) now Icp/Strategy (int) 2021-03-27 15:12:41 -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 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 d586a8f087 Updated OdomInfo to use guess instead of deprecated guessVelocity 2021-03-13 19:18:03 -05:00
matlabbe e9e140af1f CoreWrapper: 2d optimized map should not be loaded in SLAM mode (see also https://github.com/introlab/rtabmap/commit/f6e17be2b4196d588305fe20e080406a4841983a). 2021-03-12 17:50:40 -05:00
matlabbe 16d0a00992 fixed a log message 2021-03-04 11:14:19 -05:00
matlabbe 8d053bc43f MapsManager: fixed cloud_map not updated with latest node data when graph changed 2021-03-04 10:19:16 -05:00
matlabbe fbd4a144ae Odom: Updated with latest rtabmap changes 2021-03-01 19:28:13 -05:00
matlabbe fe17d86870 rtabmapviz: wait max 5 seconds on startup before warning that rtabmap parameters are not yet there (in case we just started at the same time rtabmap node) 2021-02-27 21:34:09 -05:00
matlabbe 4af79a0157 Fixed #546 2021-02-24 11:42:56 -05:00