 matlabbe
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f1bc942f54
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Update README.md
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2021-09-21 08:01:25 -04:00 |
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matlabbe
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f02851ae65
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Merge pull request #644 from ruipimentelfigueiredo/master
Added support for 5 cameras to rgbd_odometry
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2021-09-20 16:20:06 -04:00 |
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matlabbe
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a80158642c
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Update README.md
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2021-09-20 16:07:39 -04:00 |
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matlabbe
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3bca34404c
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Added docker workflow
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2021-09-20 16:05:48 -04:00 |
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matlabbe
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2a2050d15d
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Update demo_husky.launch
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2021-09-20 08:38:15 -04:00 |
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matlabbe
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383ce1b87d
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Update README.md
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2021-09-14 15:47:29 -04:00 |
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matlabbe
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19bc06509a
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renamed workflow cmake -> ros1
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2021-09-14 15:47:00 -04:00 |
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matlabbe
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3bb4df6373
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rtabmap.launch: fixed gen_cloud_from_depth nodelet wrongly started when gen_cloud is false
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2021-09-14 13:56:21 -04:00 |
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matlabbe
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caf6690f40
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rtabmap.launch: added gen_cloud option
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2021-09-13 18:23:34 -04:00 |
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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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b2ac4b6ea7
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Update README.md
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2021-09-08 17:14:10 -04:00 |
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matlabbe
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50c723e009
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Migrated from Travis to Github actions
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2021-09-08 17:06:53 -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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e0fa1c264a
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Update cmake.yml
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2021-09-08 13:43:03 -04:00 |
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matlabbe
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de84218d32
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Update cmake.yml
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2021-09-08 13:34:42 -04:00 |
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matlabbe
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a0f0a4a38c
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Create cmake.yml
First version
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2021-09-08 13:29:24 -04:00 |
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matlabbe
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a34ec109ef
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Fixed #637 (bug introduced by this commit https://github.com/introlab/rtabmap_ros/commit/31da18478308689fdecfdab58c8505c558d61777 for kinetic)
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2021-09-05 17:43:50 -04:00 |
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matlabbe
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31da184783
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cmake min c++11
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2021-09-01 11:29:13 -04:00 |
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matlabbe
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cfff133ee8
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point_cloud_assembler: use rtabmap voxel filter (at cost of having to convert 2 times the assembled cloud) if there is an integer overflow
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2021-08-31 15:54:07 -04:00 |
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matlabbe
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9d01369394
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Merge pull request #625 from nobleo/fix/rtabmap_point_cloud_aggregator
Add aggregator executable
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2021-08-24 11:32:58 -04:00 |
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matlabbe
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523b001ca3
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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).
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2021-08-02 17:47:30 -04:00 |
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matlabbe
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d2465851de
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camera info conversion: Handling distortion with more than 8 coefficients
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2021-07-31 10:05:42 -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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b311c6f21a
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travis.org -> travis.com
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2021-07-20 14:13:14 -04:00 |
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matlabbe
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df60bc78d5
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demo_husky.launch: fixed icp_odometry subscribing to both 2d and 3d lidars (choosing always 2d)
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2021-07-14 12:09:18 -04:00 |
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matlabbe
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11d5b38afe
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Added apriltag_ros dependency for binaries
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2021-07-09 09:21:15 -04:00 |
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matlabbe
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c2b6128bd4
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Merge branch 'kinetic-devel' of https://github.com/introlab/rtabmap_ros
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2021-07-09 09:16:57 -04:00 |
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matlabbe
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82bcecdd45
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Merge pull request #600 from caioaamaral/fix/add-theora-transport
Add run dependency on 'theora_image_transport'
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2021-07-09 09:16:13 -04:00 |
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matlabbe
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eb6bc7ff5c
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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).
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2021-06-28 10:56:37 -04:00 |
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matlabbe
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35f31634a6
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point_cloud_assembler: added remove_z option to remove z field from output assembled cloud (for convenience when assembling 2D clouds).
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2021-06-27 22:57:51 -04:00 |
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matlabbe
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ec9c3f236c
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0.20.13: Refacoring MsgConversion by using laserScanFromPointCloud() from rtabmap library.
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2021-06-27 19:37:07 -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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ed2451c351
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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)
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2021-06-27 10:07:19 -04:00 |
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matlabbe
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a9e1202667
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Gui: removed tf_prefix parameter (related to https://github.com/introlab/rtabmap_ros/commit/18d09f0405a2e626034feade52dda9c0333ecfc9)
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2021-06-14 14:15:34 -04:00 |
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matlabbe
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f7beb23061
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Update README.md
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2021-05-30 16:44:34 -04:00 |
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matlabbe
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cde987ff62
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Removed kinetic build on travis (EOL)
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2021-05-30 14:25:47 -04:00 |
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matlabbe
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a850f61b77
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demo husky: added 3dlidar+slam2d examples
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2021-05-30 10:13:17 -04:00 |
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matlabbe
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d8674396e0
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Merge pull request #589 from chameau5050/addFloodFill
move flood fill to octomap::uptade()
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2021-05-30 10:12:30 -04:00 |
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matlabbe
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8a02275336
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Updated rtabmap required version: 0.20.11
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2021-05-27 22:58:36 -04:00 |
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matlabbe
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4c2d24dafb
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Merge branch 'master' of https://github.com/introlab/rtabmap_ros into addFloodFill
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2021-05-27 22:57:14 -04:00 |
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matlabbe
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cbe1d8ccff
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Removed modulo RGB vs Depth size (#584), as now supported from rtabmap library since https://github.com/introlab/rtabmap/pull/534
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2021-05-24 10:14:02 -04:00 |
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matlabbe
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322c6a223a
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Updated velodyne and ouster example launch files
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2021-05-24 10:10:40 -04:00 |
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matlabbe
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761d8d6129
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Increased rtabmap dependency min version to 0.20.10
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2021-05-21 17:51:18 -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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0d693bc1b6
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Docker: added RTABMAP_SYNC_MULTI_RGBD build option to melodic-latest and noetic-latest images (https://github.com/introlab/rtabmap/issues/720)
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2021-05-12 08:08:50 -04:00 |
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matlabbe
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7239a4914e
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Merge pull request #579 from chameau5050/addFloodFill
add a flood fill filter
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2021-05-07 18:26:24 -04:00 |
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matlabbe
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8a0fb921a3
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travis: removed trusty EOL build
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2021-05-07 17:07:05 -04:00 |
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matlabbe
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23c06875b9
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Added stereo support for TYPE_8UC1 encoding and "Kannala Brandt4" (fisheye) distortion model (OpenLORIS).
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2021-04-02 19:08:58 -04:00 |
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matlabbe
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56e1d6335e
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Fixed point_cloud_aggregator output cloud's step_row
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2021-03-31 10:17:44 -04:00 |
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matlabbe
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7ab760f9e5
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point_cloud_assembler: fixed output cloud format when input is organized clouds (#560)
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2021-03-28 00:17:53 -04:00 |
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matlabbe
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b9c7efdc8a
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Added assert on PointCloud2 format (#560). rtabmap.launch: added gdb option for convenience.
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2021-03-27 21:51:06 -04:00 |
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matlabbe
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e7dd6cacbf
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Preferences: backward compatibility with Icp/PM (bool) now Icp/Strategy (int)
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2021-03-27 15:12:41 -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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6e34cde8e6
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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)
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2021-03-20 19:59:38 -04:00 |
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matlabbe
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d586a8f087
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Updated OdomInfo to use guess instead of deprecated guessVelocity
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2021-03-13 19:18:03 -05:00 |
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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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0119f3e1fa
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Added demo_husky.launch
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2021-03-04 19:42:32 -05:00 |
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matlabbe
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16d0a00992
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fixed a log message
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2021-03-04 11:14:19 -05:00 |
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matlabbe
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8d053bc43f
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MapsManager: fixed cloud_map not updated with latest node data when graph changed
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2021-03-04 10:19:16 -05:00 |
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matlabbe
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fbd4a144ae
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Odom: Updated with latest rtabmap changes
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2021-03-01 19:28:13 -05:00 |
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matlabbe
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e27d939544
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updated demo_hector_mapping.launch with odom_guess and camera options (also enabled proximity detection and updated icp parameters)
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2021-03-01 11:27:43 -05:00 |
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matlabbe
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fe17d86870
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rtabmapviz: wait max 5 seconds on startup before warning that rtabmap parameters are not yet there (in case we just started at the same time rtabmap node)
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2021-02-27 21:34:09 -05:00 |
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matlabbe
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4af79a0157
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Fixed #546
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2021-02-24 11:42:56 -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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8f3399626a
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Fixed build
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2021-02-18 19:59:16 -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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95206c684a
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rtabmap.launch: when icp_odometry option is true, make rtabmapviz subscribe only to PointCloud2 output of icp_odometry
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2021-02-16 10:52:57 -05:00 |
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matlabbe
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b96030dac2
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updated demo_robot_mapping.launch to use always PCL ICP to have consistent results between build configs (binaries or from source built with libpointmacher dependency).
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2021-02-12 18:44:30 -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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e7567cc3b9
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Update test_ouster.launch
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2021-02-07 18:10:26 -05:00 |
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matlabbe
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962ef3b312
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Update test_velodyne.launch
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2021-02-07 18:02:12 -05:00 |
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matlabbe
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1f5239245c
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Updated with latest rtabmap changes.
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2021-02-07 17:28:43 -05:00 |
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matlabbe
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5a0ddaf9f5
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OdometryROS: set initial pose to guess transform when provided.
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2021-02-01 11:34:26 -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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f24e9077a4
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Increased rtabmap library requirement to 0.20.9 (refactored scan only mapping)
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2021-01-24 13:23:42 -05:00 |
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matlabbe
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2c635f7242
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rtabmapviz: if odom topic doesn't have child_frame_id set, log a warning.
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2021-01-22 14:18:30 -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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d21b03ae7a
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rtabmap.launch: added gen_scan option for convenience
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2021-01-12 11:55:01 -05:00 |
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matlabbe
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ea2f14a661
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rgbd_relay: fixed input features not copied to output
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2021-01-09 20:05:47 -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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43dbd8ad13
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rtabmapviz: use child_frame_id from odom topic (when used) instead of frame_id parameter for base frame
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2020-12-18 17:04:28 -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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b7a66e41f1
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package.xml: 0.20.7
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2020-12-12 19:05:33 -05:00 |
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matlabbe
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ada3e7082c
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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.
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2020-11-28 17:28:45 -05:00 |
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matlabbe
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371a826109
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icp_odometry: added error log if both scan and cloud subscribers are used
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2020-11-25 22:05:04 -05:00 |
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matlabbe
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c592df2f47
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MapAssembler: added regenerate_local_grids option
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2020-11-16 18:05:26 -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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646ad6ee7b
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Added rgb_sync nodelet. Added sync rgbd5 and rgbd6 callbacks. Removed OdomInfo from sync callbacks having both camera and lidar. Added BAYER_RGGB8 support. point_cloud_assembler: added output frame_id option.
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2020-11-03 16:18:40 -05:00 |
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matlabbe
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f5c32dd1c3
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voxel_markers: making subscription lazy
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2020-11-01 15:41:55 -05:00 |
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matlabbe
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c23dbbc249
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Updated for rtabmap 0.20.5. OdometryROS: Fixed odometry stamps slightly off when subscribing to IMU (causing exact sync problems on rtabmap/rtambapviz side).
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2020-10-12 21:20:32 -04:00 |
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matlabbe
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10ed0109b8
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stereo_odometry: added baseline=0 workaround for rgbd_image input
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2020-10-12 16:09:30 -04:00 |
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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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829a81eab1
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Update test_d435i_vio.launch
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2020-09-27 17:45:38 -04:00 |
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matlabbe
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58dd3134be
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Info msg: added landmarkId field for convenience
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2020-09-15 17:45:00 -04:00 |
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matlabbe
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cdc38640ec
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MapCloudDisplay: detect if previous node has been discarded to cleanup memory (e.g., when the robot is not moving, #458)
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2020-09-01 12:19:34 -04:00 |
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