i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity
1,328 Commits 25 Branches 135 Tags
b896bb2da8a96b72a177ef66d4a7e23e094d8895
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
matlabbe 80d9e1fb5f reverted fa53c7c000 2022-05-03 21:50:56 -04:00
matlabbe 2c135f0e0f republish node data: fixed order of which ones are published first 2022-04-27 19:15:22 -04:00
matlabbe 88ca603b99 Updated rgbdslam_datasets.launch to keep all poses (even when not moving) 2022-04-10 15:05:54 -04:00
matlabbe 3a025d9e75 Odom: on odom auto reset (Odom/ResetCountdown), if guess_frame_id is set, reset pose accordingly to guess frame since it got lost. 2022-03-11 15:18:34 -08:00
matlabbe 547f285448 point_cloud_xyz[rgb]: Fixed roi ratios when camera_info is not the same resolution than depth image. 2022-03-07 17:51:41 -05:00
matlabbe 0325a87bca pointcloud_to_depthimage: republish camera_info in output image namespace 2022-03-06 17:59:43 -05:00
matlabbe ec9d32bebd pointcloud_to_depthimage: republish scaled camera_info in case decimation parameter has been used. 2022-03-06 17:48:47 -05:00
matlabbe 05a1be02a4 rgbd_odometry: added rgbd_images topic support 2022-03-06 15:43:48 -05:00
matlabbe 07bf207ec3 Added approx_sync_max_interval parameter to odometry and sync nodes. 2022-03-04 18:01:20 -05:00
matlabbe 8570fe3179 fixed missing committed file for https://github.com/introlab/rtabmap_ros/commit/fa53c7c0009fd61c6c7bea7ef1489b11d471304e 2022-02-21 09:59:25 -05:00
matlabbe fa53c7c000 CoreWrapper: forward odom twist to rtabmap library 2022-02-20 18:07:49 -05:00
matlabbe 74d48b402b Disabling armhf docker build (#718) 2022-02-15 12:03:07 -05:00
matlabbe 7d76043881 CMake: added video module to required components of opencv 2022-02-15 09:38:42 -05:00
matlabbe 540b58648f aggregator: added xyz_output option to be able to concatenate topics with different number of fields. 2022-02-14 12:47:22 -05:00
matlabbe 5fa92ace31 MapCloud display: floor and ceiling filtering can be negative 2022-02-12 19:34:17 -05:00
matlabbe e51962d82f demo_isaac: fixed subscribe_depth not existing, adjusted tag variance, removed localization too specific parameters 2022-02-12 13:38:20 -05:00
matlabbe 096d8731b4 Added gazebo_ground_truth.py. Odom: fixed ground truth init when imu is also used. 2022-02-06 17:15:47 -05:00
matlabbe 452be2cc61 Updated demo_husky.launch (default voxel size and normal K) 2022-02-01 18:40:09 -05:00
matlabbe a030297e0d CMake: see https://github.com/introlab/rtabmap/commit/c99203bbed1d212fa35ed088665d3742da54cd11 2022-02-01 13:41:13 -05:00
matlabbe 62b1058218 bump 0.20.18 2022-01-28 17:13:38 -05:00
matlabbe 5ce48e201a rtabmapviz: automatically read parameters from ros param server when receiving a map (fixing occupancy grid cell size not correctly set if rtabmapviz is started before rtabmap node, without having to open Preferences dialog and click apply to refresh the gui parameters) 2022-01-26 15:42:07 -05:00
matlabbe 293cfcf654 added catvehicle demo custom rviz config 2022-01-25 22:39:23 -05:00
matlabbe 7de423602f Updated parameters of demo_catvehicle_mapping.launch 2022-01-25 22:04:42 -05:00
matlabbe 9c9e6f5edb Added demo_catvehicle_mapping.launch (#592). MapCloud display: fixed clouds requested when changing sensor modality. 2022-01-25 18:20:50 -05:00
matlabbe 48e1d464f3 map_assembler: added octomap services, call get_map_data on initialization to have all data needed, fixed GridGlobal parameters not used. 2022-01-23 16:33:11 -05:00
matlabbe 9c34724af1 Update CoreWrapper.cpp 2022-01-20 19:53:39 -05:00
matlabbe 0ebaaa7439 Added remove_label service. Updated get_nodes_in_radius service (added parameter k, return also distances of nodes found) 2022-01-20 19:00:05 -05:00
matlabbe 8fff821a87 Merge pull request #698 from nobleo/depend 
List dependencies only once
 2022-01-10 14:46:21 -05:00
matlabbe 2daefd3a81 Update ros1.yml 
Try to fix `error: option --install-layout not recognized`on noetic build.
See https://github.com/ros/catkin/issues/863#issuecomment-1000446018
 2022-01-07 13:17:59 -05:00
matlabbe 0503f1a1f6 icp_odometry: Fixed Icp/PointToPlaneK and Icp/PointPlaneRadius not updated when using directly scan_normal_k and scan_normal_radius. 2021-12-30 14:58:25 -05:00
matlabbe 9a3e47e054 rtabmap: Fixed inter_odom topics dropped when rtabmap updates are long. 2021-12-30 13:23:02 -05:00
matlabbe 498672e418 required 0.20.16 upstream 2021-12-26 17:01:07 -05:00
matlabbe a6299d1963 Merge pull request #695 from introlab/noetic-devel 
Noetic devel
 2021-12-26 15:44:08 -05:00
matlabbe 3a61708ba1 Merge branch 'master' of https://github.com/introlab/rtabmap_ros into noetic-devel 2021-12-26 15:15:34 -05:00
matlabbe 1c7d3ccca2 Updated version to 0.20.16 2021-12-26 15:00:16 -05:00
matlabbe f22a69d1ce NodeData: fixed wrong word indexes (causing visualization issues of corresponding features in rtabmapviz) 2021-12-24 17:22:08 -05:00
matlabbe 8ea0782e14 Added mapOdomCache topic. Updated rtabmap_ros/Info msg. 2021-12-18 18:55:46 -05:00
matlabbe 0ad3d7bd7f updated isaac demo with 3d lidar 2021-12-07 21:26:29 -05:00
matlabbe aef20f17b5 rtabmap:odomUpdate(): detect correctly zero timestamp 2021-12-07 10:51:42 -05:00
matlabbe f08130fe20 Added demo_isaac_carter_navigation.launch 2021-12-05 15:10:05 -05:00
matlabbe ec9b77d055 Added fiducial_msgs support (aruco_detect), just connect to /fiducial_transforms input of rtabmap node. 2021-12-02 11:40:13 -05:00
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 70bc399907 Updated test_velodyne.launch with more options 2021-11-02 21:03:23 -04:00
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
matlabbe 79369f654c Merge pull request #658 from Dominik-FKIE/patch-1 
Bugfix Corewrapper::globalBundleAdjustmentCallback
 2021-10-14 15:59:17 -04:00
matlabbe 176e6126b8 Update README.md 2021-10-07 14:07:02 -04:00
matlabbe 9f7515cd27 Update README.md 2021-10-07 14:05:16 -04:00
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 06c29333bd Update rtabmap.launch 2021-10-05 14:26:07 -04:00
matlabbe 1ecce15878 workflows: added multi-arch docker images 2021-10-01 07:09:35 -04:00
matlabbe 3288c56151 OodmInfo msg: Added local bundle key frames 2021-09-30 15:04:03 -04:00
matlabbe e9ab2b3081 Merge branch 'master' of https://github.com/introlab/rtabmap_ros into noetic-devel 2021-09-30 10:16:37 -04:00
matlabbe a5fe8df170 Updated package.xml version to 0.20.14 2021-09-30 10:14:43 -04:00
matlabbe 5d4b05cbdc fixed yaml_to_camera_info.py for python3 2021-09-30 10:11:47 -04:00
matlabbe b5dd624ae2 test_velodyne.launch: added more options 2021-09-30 09:55:29 -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 136b8433c1 test_velodyne.launch: added loop_ratio option to close loops in kitti dataset 2021-09-24 12:05:37 -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
matlabbe e8edafb8ff Updated test_velodyne.launch with FLOAM option 2021-09-22 10:52:09 -04:00
matlabbe f1bc942f54 Update README.md 2021-09-21 08:01:25 -04:00
matlabbe f02851ae65 Merge pull request #644 from ruipimentelfigueiredo/master 
Added support for 5 cameras to rgbd_odometry
 2021-09-20 16:20:06 -04:00
matlabbe a80158642c Update README.md 2021-09-20 16:07:39 -04:00
matlabbe 3bca34404c Added docker workflow 2021-09-20 16:05:48 -04:00
matlabbe 2a2050d15d Update demo_husky.launch 2021-09-20 08:38:15 -04:00
matlabbe 383ce1b87d Update README.md 2021-09-14 15:47:29 -04:00
matlabbe 19bc06509a renamed workflow cmake -> ros1 2021-09-14 15:47:00 -04:00
matlabbe 3bb4df6373 rtabmap.launch: fixed gen_cloud_from_depth nodelet wrongly started when gen_cloud is false 2021-09-14 13:56:21 -04:00
matlabbe caf6690f40 rtabmap.launch: added gen_cloud option 2021-09-13 18:23:34 -04:00
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 b2ac4b6ea7 Update README.md 2021-09-08 17:14:10 -04:00
matlabbe 50c723e009 Migrated from Travis to Github actions 2021-09-08 17:06:53 -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 e0fa1c264a Update cmake.yml 2021-09-08 13:43:03 -04:00
matlabbe de84218d32 Update cmake.yml 2021-09-08 13:34:42 -04:00
matlabbe a0f0a4a38c Create cmake.yml 
First version
 2021-09-08 13:29:24 -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 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 5597263dec Merge pull request #626 from nobleo/fix/rtabmap_point_cloud_aggregator 
Fix/rtabmap point cloud aggregator -> noetic-devel
 2021-08-24 11:35:46 -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
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
matlabbe b311c6f21a travis.org -> travis.com 2021-07-20 14:13:14 -04:00
matlabbe df60bc78d5 demo_husky.launch: fixed icp_odometry subscribing to both 2d and 3d lidars (choosing always 2d) 2021-07-14 12:09:18 -04:00
matlabbe 11d5b38afe Added apriltag_ros dependency for binaries 2021-07-09 09:21:15 -04:00
matlabbe c2b6128bd4 Merge branch 'kinetic-devel' of https://github.com/introlab/rtabmap_ros 2021-07-09 09:16:57 -04:00
matlabbe 82bcecdd45 Merge pull request #600 from caioaamaral/fix/add-theora-transport 
Add run dependency on 'theora_image_transport'
 2021-07-09 09:16:13 -04:00
matlabbe eb6bc7ff5c rtabmap.launch: added gen_depth and subscribe_rgb arguments. demo_husky.launch: added example with RGB-only + 3D lidar (generating depth image from lidar reprojection into RGB camera). 2021-06-28 10:56:37 -04:00
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 f7beb23061 Update README.md 2021-05-30 16:44:34 -04:00
matlabbe cde987ff62 Removed kinetic build on travis (EOL) 2021-05-30 14:25:47 -04:00