mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Mathieu Labbe
0b67fe4e3b
rtabmapviz: added subscription to stereo. Updated demo_stereo_outdoor.launch with arguments to choose between rtabmapviz and rviz Added localPath array in rtabmap_ros/Info message rtabmap: publishing the local path, uniformized time stamps between published topics at each iteration
38 lines
728 B
Plaintext
38 lines
728 B
Plaintext
|
|
########################################
|
|
# RTAB-Map info with statistics
|
|
########################################
|
|
|
|
Header header
|
|
|
|
int32 refId
|
|
int32 loopClosureId
|
|
int32 localLoopClosureId
|
|
|
|
geometry_msgs/Transform loopClosureTransform
|
|
|
|
####
|
|
# For statistics...
|
|
####
|
|
# std::map<int, float> posterior;
|
|
int32[] posteriorKeys
|
|
float32[] posteriorValues
|
|
|
|
# std::map<int, float> likelihood;
|
|
int32[] likelihoodKeys
|
|
float32[] likelihoodValues
|
|
|
|
# std::map<int, float> rawLikelihood;
|
|
int32[] rawLikelihoodKeys
|
|
float32[] rawLikelihoodValues
|
|
|
|
# std::map<int, int> weights;
|
|
int32[] weightsKeys
|
|
int32[] weightsValues
|
|
|
|
# std::map<std::string, float> stats
|
|
string[] statsKeys
|
|
float32[] statsValues
|
|
|
|
# std::vector<int> localPath
|
|
int32[] localPath |