mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Mathieu Labbe
dfe5cff0c0
Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap" Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h) Added noise filtering parameters for map_assembler node Added variance parameter for map_optimizer node Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
24 lines
309 B
Plaintext
24 lines
309 B
Plaintext
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Header header
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##
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# /map to /odom transform
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# Always identity when the graph is optimized from the latest pose.
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##
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geometry_msgs/Transform mapToOdom
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##
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# The nodes
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# std::map<nodeId, mapId>
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int32[] nodeIds
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int32[] mapIds
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# std::map<nodeId, Pose>
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geometry_msgs/Pose[] poses
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##
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# The links
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##
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Link[] links
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