 matlabbe
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ec9b77d055
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Added fiducial_msgs support (aruco_detect), just connect to /fiducial_transforms input of rtabmap node.
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2021-12-02 11:40:13 -05:00 |
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matlabbe
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206a02c189
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Updated for rtabmap 0.20.15.
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2021-10-29 20:07:17 -04:00 |
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Dominik Klein
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9ee61b9a27
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Bugfix Corewrapper::globalBundleAdjustmentCallback
Fixed wrong order of arguments in the call to Rtabmap::globalBundleAdjustment method.
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2021-10-14 10:40:16 +02:00 |
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matlabbe
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d21842408d
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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.
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2021-09-13 18:22:56 -04:00 |
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matlabbe
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a324562ee0
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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.
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2021-09-11 11:39:11 -04:00 |
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matlabbe
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533669dca7
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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
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2021-09-08 15:41:32 -04:00 |
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matlabbe
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d7a33b86ed
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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.
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2021-07-30 09:46:22 -04:00 |
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matlabbe
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4304bae9f6
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rtabmap: support rgbd_image without rgb/depth data (only features set).
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2021-06-27 10:50:17 -04:00 |
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matlabbe
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ae4778b89c
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fixed "path.size()=0!? nearestId=1 ids=1, aborting..." warning when Rtabmap/CreateIntermediateNodes is true and proximity detection is enabled.
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2021-05-21 17:46:19 -04:00 |
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matlabbe
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f96591e030
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rtabmap: added odom_frame_id_init parameter
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2021-05-20 22:41:45 -04:00 |
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matlabbe
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1d06173fc8
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rtabmap: Added load_database service to create or load a database without killing the node.
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2021-03-27 01:02:00 -04:00 |
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matlabbe
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e75d035d99
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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.
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2021-03-24 17:40:54 -04:00 |
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matlabbe
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e9e140af1f
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CoreWrapper: 2d optimized map should not be loaded in SLAM mode (see also https://github.com/introlab/rtabmap/commit/f6e17be2b4196d588305fe20e080406a4841983a).
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2021-03-12 17:50:40 -05:00 |
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matlabbe
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287d7382bc
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Added support for parameter GridGlobal/AltitudeDelta
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2021-02-21 13:04:08 -05:00 |
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matlabbe
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d11e8cac41
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rtabmap node: added support for odom covariance with z=0, roll=0 and pitch=0 when Reg/Force3DoF is true. Fixed Rtabmap/ImagesAlreadyRectified and Grid/GlobalMaxNodes not modifed on rtabmap_ros side when parameters are dynamically changed.
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2021-02-18 18:31:00 -05:00 |
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matlabbe
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d4651d1fe0
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fixed #536
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2021-02-12 15:25:15 -05:00 |
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matlabbe
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4b878e45b9
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rtabmap node: fixed Rtabmap/CreateIntermediateNodes ignored after first initialization.
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2021-01-24 13:49:07 -05:00 |
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matlabbe
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21090899d4
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CoreWrapper/GuiWrapper: removed fake camera model when only lidar is used
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2021-01-22 12:53:49 -05:00 |
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matlabbe
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656b049369
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Fixed gen_scan not working since this commit https://github.com/introlab/rtabmap_ros/commit/7e283f9f1d20a9628ed29f10a39f82b7c90c9002
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2020-12-23 17:05:41 -05:00 |
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matlabbe
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7bae01ff39
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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
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2020-12-23 15:55:18 -05:00 |
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matlabbe
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2b0e313a6d
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Added RtabmapROS/TimeMsgConversion/ms stat
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2020-12-13 13:30:50 -05:00 |
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matlabbe
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f748a67184
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CoreWrapper: added gen_depth option
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2020-11-06 09:26:54 -05:00 |
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matlabbe
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c20e38b11e
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Added support to use local keypoints and descriptors from RGBDImage. OdometryROS: added new output topic odom_rgbd_image with features extracted.
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2020-11-05 16:38:08 -05:00 |
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matlabbe
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f7f9e82cb1
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Added get_nodes_in_radius service (https://github.com/introlab/rtabmap/issues/595)
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2020-09-28 12:09:25 -04:00 |
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matlabbe
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87d955f154
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backup service: save also optimized 2d grip map (like on close)
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2020-08-24 15:01:42 -04:00 |
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matlabbe
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3df4648b14
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get_node_data service: if no ids requested, send back the last node
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2020-08-21 16:31:12 -04:00 |
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matlabbe
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c5c0e0807d
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MapsManager: Make sure maps are cleanup when there is no subscriber. Added rosinfo for memory released when maps are cleared.
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2020-08-19 14:14:56 -04:00 |
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matlabbe
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2806baee55
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rtabmap: added info log after mode is changed
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2020-08-03 12:49:49 -04:00 |
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matlabbe
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56be5dca06
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rtabmap: Added warning when frame_id of individual tags is different from the msg array.
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2020-08-03 12:20:41 -04:00 |
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matlabbe
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57dc95c9d7
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fixed #447
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2020-08-02 12:54:24 -04:00 |
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matlabbe
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ae854dfb4c
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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)
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2020-07-30 12:43:44 -04:00 |
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matlabbe
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83c40d079d
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Added get_map_data2 service (for fine selection of data wanted)
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2020-06-22 22:57:15 -04:00 |
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matlabbe
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438cb1c1f0
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Don't set Grid/RangeMax to 0 by default when subscribing to lidar while Grid/FromDepth is explicitly set to true
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2020-06-03 16:35:40 -04:00 |
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matlabbe
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2fcb289894
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Plan: ignore rotation if not set in request (#406), use /map frame as default if not set in request
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2020-06-02 11:13:02 -04:00 |
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matlabbe
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250a56f741
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Updated fov of fake camera model when subscribing only to scan
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2020-06-01 13:29:45 -04:00 |
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matlabbe
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0c4779c19e
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Updated to not use deprecated get3DMap().
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2020-05-06 08:05:58 -04:00 |
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matlabbe
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d43bc7697a
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Added get_node_data service
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2020-05-05 13:25:45 -04:00 |
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matlabbe
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7e283f9f1d
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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.
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2020-05-03 22:42:01 -04:00 |
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matlabbe
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ed8f2693f5
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CoreWrapper: setting imu local transform
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2020-04-10 19:27:58 -04:00 |
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matlabbe
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aec4fe6bcc
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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.
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2020-03-12 01:03:35 -04:00 |
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matlabbe
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b24f2fd1d4
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rtabmap: Fixed some modified parameters not updated on param server when subscribed to lidar only
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2020-03-09 15:34:24 -04:00 |
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matlabbe
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231418e098
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Added add_link service and external_loop_detection_example node
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2020-02-11 23:36:56 -05:00 |
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matlabbe
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d04e0e77ba
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inter_odom callback queue_size set to 100
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2019-12-20 17:09:53 -05:00 |
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matlabbe
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954836c58b
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rtabmap: Saving more odometry statistics to database
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2019-11-26 18:33:05 -05:00 |
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matlabbe
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272568a0d9
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rtabmap: added subscribe_inter_odom_info option (sync odometry and info msgs for intermediate nodes)
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2019-11-23 22:00:23 -05:00 |
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matlabbe
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1765a7a7a0
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rtabmap: clear interOdom on reset
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2019-11-13 17:00:02 -05:00 |
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matlabbe
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547c3cbd76
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rtabmap: Added inter_odom optional input topic (available only if Rtabmap/DetectionRate=0 and Rtabmap/CreateIntermediateNodes=true)
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2019-11-13 16:54:06 -05:00 |
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matlabbe
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3282b7b946
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CoreWrapper: updated default parameters when subscribing to 3d scan
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2019-10-15 18:09:02 -04:00 |
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matlabbe
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57c9cb414c
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CoreWrapper: setting RGBD/ProximityPathMaxNeighbors to 10 by default when not subscribing to any camera input (only 2d scan input)
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2019-10-14 21:59:32 -04:00 |
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matlabbe
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f5a51aa87f
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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.
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2019-08-09 21:52:01 -04:00 |
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