mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-11 20:19:50 +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.
35 lines
680 B
Plaintext
35 lines
680 B
Plaintext
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########################################
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# RTAB-Map info with statistics
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########################################
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Header header
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int32 refId
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int32 loopClosureId
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int32 localLoopClosureId
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geometry_msgs/Transform loopClosureTransform
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####
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# For statistics...
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####
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# std::map<int, float> posterior;
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int32[] posteriorKeys
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float32[] posteriorValues
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# std::map<int, float> likelihood;
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int32[] likelihoodKeys
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float32[] likelihoodValues
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# std::map<int, float> rawLikelihood;
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int32[] rawLikelihoodKeys
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float32[] rawLikelihoodValues
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# std::map<int, int> weights;
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int32[] weightsKeys
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int32[] weightsValues
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# std::map<std::string, float> stats
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string[] statsKeys
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float32[] statsValues |