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.
33 lines
753 B
Plaintext
33 lines
753 B
Plaintext
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int32 id
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int32 mapId
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# Pose from odometry not corrected
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geometry_msgs/Pose pose
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# compressed image in /camera_link frame
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# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
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uint8[] image
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# compressed depth image in /camera_link frame
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# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
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uint8[] depth
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float32 fx
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float32 fy
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float32 cx
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float32 cy
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# compressed 2D laser scan in /base_link frame
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] laserScan
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# local transform (/base_link -> /camera_link)
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geometry_msgs/Transform localTransform
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# std::multimap<wordId, cv::Keypoint>
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# std::multimap<wordId, pcl::PointXYZ>
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int32[] wordIds
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KeyPoint[] wordKpts
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sensor_msgs/PointCloud2 wordPts |