matlabbe
e34ea3e0b3
odom: Added min_update_rate parameter
2022-12-05 20:56:29 -08:00
matlabbe
89f46c10d1
Added log_to_rosout_level option (to redirect some internal rtabmap's logs to rosout, default disabled)
2022-11-28 16:02:54 -08:00
matlabbe
44bbaa2cef
Added lidar_deskewing node and nodelet. Added "deskewing" option for icp_odometry. Updated velodyne and ouster examples with deskewing option. Added velodyne+T265 deskewing example.
2022-10-16 21:36:11 -07:00
mathieu86
c4a6fba8e8
odom: publish TF odom correction when lost if guess frame is provided
2022-06-09 11:34:45 -07:00
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
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
206a02c189
Updated for rtabmap 0.20.15.
2021-10-29 20:07:17 -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
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
b9c7efdc8a
Added assert on PointCloud2 format ( #560 ). rtabmap.launch: added gdb option for convenience.
2021-03-27 21:51:06 -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
16d0a00992
fixed a log message
2021-03-04 11:14:19 -05:00
matlabbe
fbd4a144ae
Odom: Updated with latest rtabmap changes
2021-03-01 19:28:13 -05:00
matlabbe
5a0ddaf9f5
OdometryROS: set initial pose to guess transform when provided.
2021-02-01 11:34:26 -05:00
matlabbe
ada3e7082c
Increased minimum rtabmap version to 0.20.7. Updated OdomInfo msg with localScanMapFormat (fixed intensity channel wrongly converted to rgb). rtabmap.launch: Show in rviz filtered scan from odometry if icp_odometry is true. rtabmapviz: fixed hanging shutdown after a ctr-c. OdometryROS: can now publish local scan map with intensity channel. icp_odometry: fixed intensity ignored if voxel size is set.
2020-11-28 17:28:45 -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
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
797ac65284
OdometryROS: added more info to imu/data sync error log
2020-08-31 14:51:58 -04:00
matlabbe
e96f72d4ab
fixed #450
2020-08-06 09:15:28 -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
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