matlabbe
48bcda84ab
Added imu input topic to rtabmap node. Updated for rtabmap 0.19.3.
2019-05-31 19:35:49 -04:00
matlabbe
2eb8ba1be1
MapCloudDisplay: fixed default channel for scans. imu_to_tf: fixed wrong stabilized orientation with non null roll/pitch
2019-05-02 19:42:15 -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
e3abe460ee
rtabmap: added log info on subscription parameters
2019-04-30 12:15:57 -04:00
matlabbe
b4334bb832
removed camera_info stamp check for sync and throttle nodes
2019-04-11 12:03:58 -04:00
matlabbe
8df7157d84
rgbd_sync: removed error log when only the camera_info stamp changed
2019-04-10 17:42:49 -04:00
matlabbe
c8449dff2e
rtabmap: get_plan and get_plan_nodes return poses in same frame than the one set in the goal. robot_demo_mapping.launch: increased Icp/CorrespondenceRatio to filter more not so accurate proximity detections (causing loop closures to be rejected).
2019-03-25 14:57:50 -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
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
6bd420bc54
icp_odometry: auto set scan_cloud_max_points if received cloud is organized (we know full dimension)
2019-03-14 19:12:56 -04:00
matlabbe
627b6e78bd
Added imu_to_tf node, added test_ouster.launch
2019-03-14 14:22:26 -04:00
matlabbe
f8a1b10ced
stereo_sync: added compressed_rate parameter
2019-03-04 19:22:25 -05:00
matlabbe
4646b99cbb
Added rgbd_relay node/nodelet (can be used exactly like a relay of topic_tools but with ability to uncompress or compress rgbd_image)
2019-03-03 18:31:35 -05:00
matlabbe
cb29bdcb40
Added docker examples. rtabmapviz: Fixed empty cloud warnings when not subscribing to any topics.
2019-03-01 13:18:02 -05:00
matlabbe
579a2bbc50
rtabmapviz: fixed frustum when using only lidar input
2019-02-25 18:44:30 -05:00
matlabbe
839d7d2835
icp_odometry: publishing odom_filtered_input_scan debugging topic. Added test_velodyne.launch
2019-02-21 19:38:34 -05:00
matlabbe
1f597a58d0
point_cloud_assembler: fixed subscription warning still shown while receiving correctly the topics
2019-02-21 15:24:23 -05:00
matlabbe
05de922992
Odom: subscribe imu if MSCKF and Okvis type is selected
2019-02-21 15:16:07 -05:00
matlabbe
888cd22072
Added point_cloud_assembler node
2019-02-21 14:55:35 -05:00
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
b09ff6c511
CommonSubscribers: subscribe_rgb default true
2019-01-17 09:05:43 -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
ba5738354d
Planning: if use_action_for_goal is true, wait for move_base status before sending goal status. Updated patrol.py
2019-01-15 18:12:11 -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
e0c58ebe35
Explicitly use parent frame id for tags
2018-12-10 20:22:02 -05:00
matlabbe
7e2c16d9c5
Added support for apriltags tag_bundles
2018-12-10 13:17:37 -05:00
matlabbe
ebfaa32a74
fixed typo
2018-12-07 20:02:07 -05:00
matlabbe
9ad434e27b
0.18.3: added apriltags2 support (input topic: tag_detections)
2018-12-07 18:31:59 -05:00
matlabbe
1559d9ba8e
updated find-object with markers demo and wifi demo to correctly handle the case where only last signature data is published
2018-11-29 14:42:25 -05:00
matlabbe
e08f49b092
Clear CommonDataSubscriber parameters on exit.
2018-11-23 14:47:28 -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
54c455f82a
MapsManager: fixed ignored local grids with only empty cells
2018-11-16 19:20:10 -05:00
matlabbe
40b08a359a
fixed #287 (also refer to https://github.com/introlab/rtabmap/commit/963aea5c0d6c92f598345b767171c074be7e57f9 )
2018-11-15 10:11:14 -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
f64152b6dc
data_player: rate is now a ratio of the database stamps
2018-10-24 09:27:42 +12:00
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
2b8edffc85
Updated for RTAB-Map 0.18 (saving full scan info)
2018-10-24 06:37:15 +12:00
matlabbe
e7075b3b41
fixed warnings of demo_two_kinects.launch
2018-10-19 19:10:45 -04:00
matlabbe
1cb8ec38c9
removed not used Odom rosparam set by rtabmap node
2018-10-17 13:01:14 -04:00
matlabbe
ead97cd1ad
fixed #279
2018-10-17 11:43:38 -04:00
matlabbe
e9380ebf45
stereo_odometry: added bgra8 and rgba8 support
2018-10-03 18:57:38 -04:00
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