matlabbe
f748a67184
CoreWrapper: added gen_depth option
2020-11-06 09:26:54 -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
646ad6ee7b
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.
2020-11-03 16:18:40 -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
f7f9e82cb1
Added get_nodes_in_radius service ( https://github.com/introlab/rtabmap/issues/595 )
2020-09-28 12:09:25 -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
d5182859a5
Added EnvSensor msg. Wifi example: added max,min,hue_symbol parameters.
2020-07-22 14:38:02 -04:00
matlabbe
9ef1c1a609
For synchronization warning, split topic with backslashes instead of commas for convenience (to easily copy/paste listed topics to "rostopic hz" for example)
2020-06-25 15:34:45 -04:00
matlabbe
83c40d079d
Added get_map_data2 service (for fine selection of data wanted)
2020-06-22 22:57:15 -04:00
matlabbe
2fcb289894
Plan: ignore rotation if not set in request ( #406 ), use /map frame as default if not set in request
2020-06-02 11:13:02 -04:00
matlabbe
cc79e19b1f
Odometry: added max_update_rate option.
2020-05-20 15:10:17 -04:00
matlabbe
d43bc7697a
Added get_node_data service
2020-05-05 13:25:45 -04:00
matlabbe
7e283f9f1d
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.
2020-05-03 22:42:01 -04:00
matlabbe
ed8f2693f5
CoreWrapper: setting imu local transform
2020-04-10 19:27:58 -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
231418e098
Added add_link service and external_loop_detection_example node
2020-02-11 23:36:56 -05:00
Louis Petit
71294263b8
Octomap: added frontier output topic
2019-12-17 17:32:51 -05:00
Prescillia
e7d940b3ab
Added rtabmap_ros plugin interface
2019-12-11 12:29:24 -05:00
matlabbe
954836c58b
rtabmap: Saving more odometry statistics to database
2019-11-26 18:33:05 -05:00
matlabbe
1aa0635de6
fixed build error on kinetic
2019-11-23 23:11:48 -05:00
matlabbe
272568a0d9
rtabmap: added subscribe_inter_odom_info option (sync odometry and info msgs for intermediate nodes)
2019-11-23 22:00:23 -05:00
matlabbe
547c3cbd76
rtabmap: Added inter_odom optional input topic (available only if Rtabmap/DetectionRate=0 and Rtabmap/CreateIntermediateNodes=true)
2019-11-13 16:54:06 -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
2ab15ec3b9
Updated apriltags2_ros to new apriltag_ros package
2019-06-20 15:24:09 -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
b670186610
rtabmap: added local grid output topics for convenience. rviz/MapCloud: added cloud_from_scan option. point_cloud_assembler: added option to skip clouds.
2019-05-02 17:03:04 -04:00
matlabbe
6d149cd9bc
rtabmap: updated list_labels service to return also node ids, added get_plan_nodes service to get path AND node ids
2019-03-19 16:06:04 -04:00
matlabbe
7c104cf1b9
Added rtabmap_ros/Path msg. rtabmap: added new output topics global_path_nodes and local_path_nodes (nodes ids + poses of the planned path)
2019-03-19 15:26:07 -04:00
matlabbe
5e74c244a4
MapsManager: don't republish maps when latching is enabled and maps didn't change
2019-03-19 14:12:20 -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
28f640997c
Updated cloud/scan conversion to include intensity if there is
2019-02-06 18:45:29 -05:00
matlabbe
3c01661e07
rtabmap: don't assert on invalid tags, just print error. Added "landmarks" topic (type geometry_msg::PoseArray) and added landmark ids in labels MarkerArray.
2019-02-04 18:26:44 -05:00
matlabbe
c09eabd291
Goal msg and SetGoal srv: added frame_id parameter to specify in which frame on the robot we want the goal
2019-01-18 18:05:07 -05:00
matlabbe
dcbf84629a
CommonSubscribers: added RGB-only callbacks, added odom-only callbacks. Odom: Fixed reset_odom service assert.
2019-01-16 19:33:04 -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
801bac5221
Fixed labels not correctly published
2018-11-19 18:00:39 -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
d81580fd46
fixed build with latest rtabmap lib code
2018-11-09 11:38:08 -05:00
matlabbe
575af5c5a1
Added /gps/fix input topic, data_player can also publish GPS and global poses if they are set in database
2018-10-24 08:53:44 +12:00
matlabbe
d0c5951b33
Fixed rtabmap node not initializing when use_sim_time is true and no clock is yet published
2018-10-02 18:06:46 -04:00
matlabbe
1a9dfaf084
data_player: added --clock argument (like rosbag). Rtabmap: Detection rate update is done using only topic stamps (added warning if stamp is null). ( #276 )
2018-09-30 15:21:05 -04:00
matlabbe
bc0a13748c
Removed not used octomap_ros dependency
2018-09-29 13:51:48 -04:00
matlabbe
5660442565
0.17.5: added grid_prob_map topic (ref #269 )
2018-08-16 14:43:54 -04:00
matlabbe
a97be68897
Fixed saved grid map wrongly cleared when RGBD/OptimizeFromGraphEnd is true
2018-08-02 17:07:48 -04:00
matlabbe
23f661827a
rtabmap: added getPlan service
2018-07-09 14:53:21 -04:00
matlabbe
1ffb287af0
Using TF to get pose when odometry message is used (msg is now used only to get covariance)
2018-06-12 14:56:47 -04:00
matlabbe