matlabbe
cc79e19b1f
Odometry: added max_update_rate option.
2020-05-20 15:10:17 -04:00
matlabbe
f034bf4e91
Odom: reset buffered guess only after when we recovered from being lost
2020-04-26 23:28:13 -04:00
matlabbe
ed8f2693f5
CoreWrapper: setting imu local transform
2020-04-10 19:27:58 -04:00
matlabbe
b3d53e0833
Odometry: fixed roll/pitch ignored from transform base_link to imu link
2020-04-09 19:26:00 -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
3207b412ce
imu_to_tf: fixed tf orientation if there is a rotation between base frame and imu frame. OdometryROS: fixed rotation imu init when there is a rotation between imu and base frame
2020-02-25 10:55:28 -05:00
matlabbe
8a3af1d14f
updated rtabmap.launch to be able to do lidar-only slam
2020-02-20 16:05:09 -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
48bcda84ab
Added imu input topic to rtabmap node. Updated for rtabmap 0.19.3.
2019-05-31 19:35:49 -04:00
matlabbe
ec02608e01
Odom: don't update previousStamp on IMU updates, updated euroc_datasets.launch with okvis example
2019-03-20 22:12:30 -04:00
matlabbe
ab23e651bf
Updated for rtabmap 0.19.1. Added VINS example in euroc_datasets.launch
2019-03-18 20:47:13 -04:00
matlabbe
05de922992
Odom: subscribe imu if MSCKF and Okvis type is selected
2019-02-21 15:16:07 -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
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
786c481677
Updated for rtabmap 0.17.7
2018-10-01 19:33:23 -04:00
matlabbe
7a648a83d4
0.17.4 (added optional imu input topic to stereo odometry when a vio approach is selected, see Odom/Strategy parameter)
2018-07-23 15:58:51 -04:00
matlabbe
dc29b74111
OdometryROS: don't publish odom if velocity is null too when publish_null_when_lost is false
2018-03-31 15:44:53 -04:00
matlabbe
cb61f33ccf
OdometryIcp: fixed local scan map transform. Other minor changes.
2018-03-17 18:27:27 -04:00
matlabbe
04b9abd1b9
Fixed build for upstream 0.16.1
2018-02-16 20:00:32 -05:00
matlabbe
acc607a8e6
rtabmap.launch: added odom_topic argument to odometry nodes. OdometryROS: using odom info local map as output local map.
2017-12-18 15:44:31 -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
aee8e0c645
Updated API for OdomInfo object/conversion.
2017-09-11 13:26:34 -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
db7118554d
demo_hector_mapping.launch: when "hector" argument is false, icp_odometry is used
2017-09-09 22:46:37 -04:00
matlabbe
7f392f3796
rtabmap: use largest odom covariance instead of summation
2017-07-13 11:39:19 -04:00
matlabbe
f81edcf790
Fixed build for rtabmap 0.13.0
2017-05-23 16:31:06 -04:00
matlabbe
4d67004016
Odometry: added ground_truth_base_frame_id parameter, added in rtabmap.launch
2017-05-17 15:40:29 -04:00
matlabbe
18d09f0405
Added test_two_kinects_one_map.launch. Removed tf_prefix parameter (frame_id, odom_frame_id and map_frame_id should be set directly)
2017-04-04 12:55:31 -04:00
matlabbe
388e8f56be
Updated map_assembler parameters interface (Grid and StereoBM groups). MapsManager: uncompress negative data for map_assembler ( #160 )
2017-04-03 12:51:10 -04:00
matlabbe
3fb6a82825
Fixed build with changes from 0.11.13
2017-01-03 23:26:26 -05:00
matlabbe
ea859291ed
fixed MapsManager's topics not remapped when using rtabmap nodelet
2016-10-18 11:49:56 -04:00
matlabbe
db91736443
Added rtabmap_ros/rtabmap nodelet #96 and test_rtabmap_nodelets.launch file as an example
2016-09-30 16:21:06 -04:00
matlabbe
5167492771
Fixed build error when rtabmap is not built with octomap
2016-09-29 12:28:48 -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
bc76e4ec4e
removed a warning msg
2016-08-08 11:21:02 -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
0f134d7ba4
changed dynamic cast into type function
2016-07-28 12:09:18 -07:00
Di Zeng
500fe3b8ae
moved all the header file into include
2016-07-27 16:44:48 -07:00
matlabbe
7a896f6e7b
Added odometry nodelets (issue #96 )
2016-07-06 20:08:23 -04:00
matlabbe
88f164e6bf
Odometry: added "guess_from_tf" parameter
2016-06-30 11:35:57 -04:00
matlabbe
99eb696e36
Flush odometry's synchronizer queues on reset
2016-06-10 14:17:51 -04:00
matlabbe
76cb4365dd
CoreWrapper: using twist covariance instead of pose covariance (which could grow out of bounds depending of the odometry used)
2016-04-26 10:19:29 -04:00
matlabbe
3f6811b156
Odom: Added twist covariance (pose covariance/2)
2016-04-26 10:19:29 -04:00
matlabbe