matlabbe
4b878e45b9
rtabmap node: fixed Rtabmap/CreateIntermediateNodes ignored after first initialization.
2021-01-24 13:49:07 -05:00
matlabbe
21090899d4
CoreWrapper/GuiWrapper: removed fake camera model when only lidar is used
2021-01-22 12:53:49 -05:00
matlabbe
656b049369
Fixed gen_scan not working since this commit https://github.com/introlab/rtabmap_ros/commit/7e283f9f1d20a9628ed29f10a39f82b7c90c9002
2020-12-23 17:05:41 -05:00
matlabbe
7bae01ff39
rtabmap.launch: added use_odom_features option (default false). rtabmap: fixed 3d points not transformed correctly in base frame if provided rgbd_image topic is stereo
2020-12-23 15:55:18 -05:00
matlabbe
2b0e313a6d
Added RtabmapROS/TimeMsgConversion/ms stat
2020-12-13 13:30:50 -05:00
matlabbe
f748a67184
CoreWrapper: added gen_depth option
2020-11-06 09:26:54 -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
mirellameelo
dea88211de
updating files to build ros package with rtab-map lib v0.20.3
2020-10-04 21:02:53 -03:00
matlabbe
f7f9e82cb1
Added get_nodes_in_radius service ( https://github.com/introlab/rtabmap/issues/595 )
2020-09-28 12:09:25 -04:00
matlabbe
87d955f154
backup service: save also optimized 2d grip map (like on close)
2020-08-24 15:01:42 -04:00
matlabbe
3df4648b14
get_node_data service: if no ids requested, send back the last node
2020-08-21 16:31:12 -04:00
matlabbe
c5c0e0807d
MapsManager: Make sure maps are cleanup when there is no subscriber. Added rosinfo for memory released when maps are cleared.
2020-08-19 14:14:56 -04:00
matlabbe
2806baee55
rtabmap: added info log after mode is changed
2020-08-03 12:49:49 -04:00
matlabbe
56be5dca06
rtabmap: Added warning when frame_id of individual tags is different from the msg array.
2020-08-03 12:20:41 -04:00
matlabbe
57dc95c9d7
fixed #447
2020-08-02 12:54:24 -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
83c40d079d
Added get_map_data2 service (for fine selection of data wanted)
2020-06-22 22:57:15 -04:00
matlabbe
438cb1c1f0
Don't set Grid/RangeMax to 0 by default when subscribing to lidar while Grid/FromDepth is explicitly set to true
2020-06-03 16:35:40 -04:00
matlabbe
2fcb289894
Plan: ignore rotation if not set in request ( #406 ), use /map frame as default if not set in request
2020-06-02 11:13:02 -04:00
matlabbe
250a56f741
Updated fov of fake camera model when subscribing only to scan
2020-06-01 13:29:45 -04:00
matlabbe
0c4779c19e
Updated to not use deprecated get3DMap().
2020-05-06 08:05:58 -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
ed8f2693f5
CoreWrapper: setting imu local transform
2020-04-10 19:27:58 -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
b24f2fd1d4
rtabmap: Fixed some modified parameters not updated on param server when subscribed to lidar only
2020-03-09 15:34:24 -04:00
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
d04e0e77ba
inter_odom callback queue_size set to 100
2019-12-20 17:09:53 -05:00
matlabbe
954836c58b
rtabmap: Saving more odometry statistics to database
2019-11-26 18:33:05 -05:00
matlabbe
272568a0d9
rtabmap: added subscribe_inter_odom_info option (sync odometry and info msgs for intermediate nodes)
2019-11-23 22:00:23 -05:00
matlabbe
1765a7a7a0
rtabmap: clear interOdom on reset
2019-11-13 17:00:02 -05:00
matlabbe
547c3cbd76
rtabmap: Added inter_odom optional input topic (available only if Rtabmap/DetectionRate=0 and Rtabmap/CreateIntermediateNodes=true)
2019-11-13 16:54:06 -05:00
matlabbe
3282b7b946
CoreWrapper: updated default parameters when subscribing to 3d scan
2019-10-15 18:09:02 -04:00
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