feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,102 @@
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cmake_minimum_required(VERSION 3.5)
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project(rtabmap_conversions)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
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# issues #1285 #1288
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find_library(
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builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
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PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
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)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(image_geometry REQUIRED)
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find_package(laser_geometry REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rtabmap_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(RTABMap 0.22.0 REQUIRED)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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# libraries
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SET(Libraries
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cv_bridge
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geometry_msgs
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image_geometry
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laser_geometry
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pcl_conversions
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rclcpp
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rtabmap_msgs
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sensor_msgs
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std_msgs
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tf2
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tf2_eigen
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tf2_geometry_msgs
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RTABMap
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)
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if("$ENV{ROS_DISTRO}" STRLESS "humble")
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add_definitions(-DPRE_ROS_HUMBLE)
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endif()
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IF("$ENV{ROS_DISTRO}" STRLESS "iron")
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add_definitions(-DPRE_ROS_IRON)
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ENDIF()
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###########
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## Build ##
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###########
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add_library(rtabmap_conversions SHARED src/MsgConversion.cpp)
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target_include_directories(rtabmap_conversions
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(rtabmap_conversions ${Libraries})
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IF("$ENV{ROS_DISTRO}" STRLESS "iron")
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target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON)
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ENDIF()
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#############
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## Install ##
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#############
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ament_export_dependencies(${Libraries})
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ament_export_include_directories(include)
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ament_export_targets(${PROJECT_NAME}) # To include downstream with targets
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ament_export_libraries(rtabmap_conversions) # To include downstream without targets
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install(TARGETS
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rtabmap_conversions
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(DIRECTORY include/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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)
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ament_package()
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@@ -0,0 +1,364 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef MSGCONVERSION_H_
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#define MSGCONVERSION_H_
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#include "rclcpp/time.hpp"
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#include "tf2_ros/buffer.h"
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#include <geometry_msgs/msg/transform.hpp>
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#include <geometry_msgs/msg/pose.hpp>
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#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
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#include <sensor_msgs/msg/camera_info.hpp>
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#include <sensor_msgs/msg/laser_scan.hpp>
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#include <sensor_msgs/msg/image.hpp>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <opencv2/opencv.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#ifdef PRE_ROS_IRON
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#include <cv_bridge/cv_bridge.h>
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#else
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#include <cv_bridge/cv_bridge.hpp>
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#endif
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/core/Link.h>
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#include <rtabmap/core/Signature.h>
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#include <rtabmap/core/OdometryInfo.h>
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#include <rtabmap/core/Statistics.h>
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#include <rtabmap/core/StereoCameraModel.h>
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#include <rtabmap_msgs/msg/link.hpp>
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#include <rtabmap_msgs/msg/key_point.hpp>
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#include <rtabmap_msgs/msg/point2f.hpp>
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#include <rtabmap_msgs/msg/point3f.hpp>
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#include <rtabmap_msgs/msg/map_data.hpp>
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#include <rtabmap_msgs/msg/map_graph.hpp>
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#include <rtabmap_msgs/msg/node.hpp>
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#include <rtabmap_msgs/msg/odom_info.hpp>
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#include <rtabmap_msgs/msg/info.hpp>
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#include <rtabmap_msgs/msg/rgbd_image.hpp>
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#include <rtabmap_msgs/msg/user_data.hpp>
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namespace rtabmap_conversions {
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void transformToTF(const rtabmap::Transform & transform, tf2::Transform & tfTransform);
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rtabmap::Transform transformFromTF(const tf2::Transform & transform);
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void transformToGeometryMsg(const rtabmap::Transform & transform, geometry_msgs::msg::Transform & msg);
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rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::msg::Transform & msg);
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void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::msg::Pose & msg);
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rtabmap::Transform transformFromPoseMsg(const geometry_msgs::msg::Pose & msg, bool ignoreRotationIfNotSet = false);
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void toCvCopy(const rtabmap_msgs::msg::RGBDImage & image, cv_bridge::CvImagePtr & rgb, cv_bridge::CvImagePtr & depth);
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void toCvShare(const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr & image, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);
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void toCvShare(const rtabmap_msgs::msg::RGBDImage & image, const std::shared_ptr<void const>& trackedObject, cv_bridge::CvImageConstPtr & rgb, cv_bridge::CvImageConstPtr & depth);
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void rgbdImageToROS(const rtabmap::SensorData & data, rtabmap_msgs::msg::RGBDImage & msg, const std::string & sensorFrameId);
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rtabmap::SensorData rgbdImageFromROS(const rtabmap_msgs::msg::RGBDImage::ConstSharedPtr & image);
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// copy data
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void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes);
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cv::Mat compressedMatFromBytes(const std::vector<unsigned char> & bytes, bool copy = true);
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void infoFromROS(const rtabmap_msgs::msg::Info & info, rtabmap::Statistics & stat);
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void infoToROS(const rtabmap::Statistics & stats, rtabmap_msgs::msg::Info & info);
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rtabmap::Link linkFromROS(const rtabmap_msgs::msg::Link & msg);
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void linkToROS(const rtabmap::Link & link, rtabmap_msgs::msg::Link & msg);
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cv::KeyPoint keypointFromROS(const rtabmap_msgs::msg::KeyPoint & msg);
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void keypointToROS(const cv::KeyPoint & kpt, rtabmap_msgs::msg::KeyPoint & msg);
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std::vector<cv::KeyPoint> keypointsFromROS(const std::vector<rtabmap_msgs::msg::KeyPoint> & msg);
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void keypointsFromROS(const std::vector<rtabmap_msgs::msg::KeyPoint> & msg, std::vector<cv::KeyPoint> & kpts, int xShift=0);
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void keypointsToROS(const std::vector<cv::KeyPoint> & kpts, std::vector<rtabmap_msgs::msg::KeyPoint> & msg);
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rtabmap::GlobalDescriptor globalDescriptorFromROS(const rtabmap_msgs::msg::GlobalDescriptor & msg);
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void globalDescriptorToROS(const rtabmap::GlobalDescriptor & desc, rtabmap_msgs::msg::GlobalDescriptor & msg);
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std::vector<rtabmap::GlobalDescriptor> globalDescriptorsFromROS(const std::vector<rtabmap_msgs::msg::GlobalDescriptor> & msg);
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void globalDescriptorsToROS(const std::vector<rtabmap::GlobalDescriptor> & desc, std::vector<rtabmap_msgs::msg::GlobalDescriptor> & msg);
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rtabmap::EnvSensor envSensorFromROS(const rtabmap_msgs::msg::EnvSensor & msg);
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void envSensorToROS(const rtabmap::EnvSensor & sensor, rtabmap_msgs::msg::EnvSensor & msg);
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rtabmap::EnvSensors envSensorsFromROS(const std::vector<rtabmap_msgs::msg::EnvSensor> & msg);
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void envSensorsToROS(const rtabmap::EnvSensors & sensors, std::vector<rtabmap_msgs::msg::EnvSensor> & msg);
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cv::Point2f point2fFromROS(const rtabmap_msgs::msg::Point2f & msg);
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void point2fToROS(const cv::Point2f & kpt, rtabmap_msgs::msg::Point2f & msg);
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std::vector<cv::Point2f> points2fFromROS(const std::vector<rtabmap_msgs::msg::Point2f> & msg);
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void points2fToROS(const std::vector<cv::Point2f> & kpts, std::vector<rtabmap_msgs::msg::Point2f> & msg);
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cv::Point3f point3fFromROS(const rtabmap_msgs::msg::Point3f & msg);
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void point3fToROS(const cv::Point3f & kpt, rtabmap_msgs::msg::Point3f & msg);
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std::vector<cv::Point3f> points3fFromROS(const std::vector<rtabmap_msgs::msg::Point3f> & msg, const rtabmap::Transform & transform = rtabmap::Transform());
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void points3fFromROS(const std::vector<rtabmap_msgs::msg::Point3f> & msg, std::vector<cv::Point3f> & points3, const rtabmap::Transform & transform = rtabmap::Transform());
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void points3fToROS(const std::vector<cv::Point3f> & kpts, std::vector<rtabmap_msgs::msg::Point3f> & msg, const rtabmap::Transform & transform = rtabmap::Transform());
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rtabmap::CameraModel cameraModelFromROS(
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const sensor_msgs::msg::CameraInfo & camInfo,
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const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity());
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void cameraModelToROS(
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const rtabmap::CameraModel & model,
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sensor_msgs::msg::CameraInfo & camInfo);
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rtabmap::StereoCameraModel stereoCameraModelFromROS(
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const sensor_msgs::msg::CameraInfo & leftCamInfo,
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const sensor_msgs::msg::CameraInfo & rightCamInfo,
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const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity(),
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const rtabmap::Transform & stereoTransform = rtabmap::Transform());
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rtabmap::StereoCameraModel stereoCameraModelFromROS(
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const sensor_msgs::msg::CameraInfo & leftCamInfo,
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const sensor_msgs::msg::CameraInfo & rightCamInfo,
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const std::string & frameId,
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tf2_ros::Buffer & tfBuffer,
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double waitForTransform);
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void mapDataFromROS(
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const rtabmap_msgs::msg::MapData & msg,
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std::map<int, rtabmap::Transform> & poses,
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std::multimap<int, rtabmap::Link> & links,
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std::map<int, rtabmap::Signature> & signatures,
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rtabmap::Transform & mapToOdom);
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void mapDataToROS(
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const std::map<int, rtabmap::Transform> & poses,
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const std::multimap<int, rtabmap::Link> & links,
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const std::map<int, rtabmap::Signature> & signatures,
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const rtabmap::Transform & mapToOdom,
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rtabmap_msgs::msg::MapData & msg);
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void mapGraphFromROS(
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const rtabmap_msgs::msg::MapGraph & msg,
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std::map<int, rtabmap::Transform> & poses,
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std::multimap<int, rtabmap::Link> & links,
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rtabmap::Transform & mapToOdom);
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void mapGraphToROS(
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const std::map<int, rtabmap::Transform> & poses,
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const std::multimap<int, rtabmap::Link> & links,
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const rtabmap::Transform & mapToOdom,
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rtabmap_msgs::msg::MapGraph & msg);
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rtabmap::SensorData sensorDataFromROS(const rtabmap_msgs::msg::SensorData & msg);
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void sensorDataToROS(const rtabmap::SensorData & signature, rtabmap_msgs::msg::SensorData & msg, const std::string & frameId = "base_link", bool copyRawData = false);
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rtabmap::Signature nodeFromROS(const rtabmap_msgs::msg::Node & msg);
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void nodeToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::Node & msg);
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// DEPRECATED
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rtabmap::Signature nodeDataFromROS(const rtabmap_msgs::msg::Node & msg);
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void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::Node & msg);
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rtabmap::Signature nodeInfoFromROS(const rtabmap_msgs::msg::Node & msg);
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void nodeInfoToROS(const rtabmap::Signature & signature, rtabmap_msgs::msg::Node & msg);
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std::map<std::string, float> odomInfoToStatistics(const rtabmap::OdometryInfo & info);
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rtabmap::OdometryInfo odomInfoFromROS(const rtabmap_msgs::msg::OdomInfo & msg, bool ignoreData = false);
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void odomInfoToROS(const rtabmap::OdometryInfo & info, rtabmap_msgs::msg::OdomInfo & msg, bool ignoreData = false);
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cv::Mat userDataFromROS(const rtabmap_msgs::msg::UserData & dataMsg);
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void userDataToROS(const cv::Mat & data, rtabmap_msgs::msg::UserData & dataMsg, bool compress);
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rtabmap::IMU imuFromROS(const sensor_msgs::msg::Imu & msg, const rtabmap::Transform & localTransform = rtabmap::Transform::getIdentity());
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void imuToROS(const rtabmap::IMU & imu, sensor_msgs::msg::Imu & msg);
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rtabmap::Landmarks landmarksFromROS(
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const std::map<int, std::pair<geometry_msgs::msg::PoseWithCovarianceStamped, float> > & tags,
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const std::string & frameId,
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const std::string & odomFrameId,
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const rclcpp::Time & odomStamp,
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tf2_ros::Buffer & tfBuffer,
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double waitForTransform,
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double defaultLinVariance,
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double defaultAngVariance);
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inline double timestampFromROS(const rclcpp::Time & stamp) {return stamp.seconds();}
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inline rclcpp::Time timestampToROS(const double & t) {int32_t sec= (int32_t)floor(t); return rclcpp::Time(sec, (uint32_t)std::round((t-sec) * 1e9));}
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// common stuff
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rtabmap::Transform getTransform(
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const std::string & fromFrameId,
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const std::string & toFrameId,
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const rclcpp::Time & stamp,
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tf2_ros::Buffer & tfBuffer,
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double waitForTransform);
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// get moving transform accordingly to a fixed frame. For example get
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// transform of /base_link between two stamps accordingly to /odom frame.
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rtabmap::Transform getMovingTransform(
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const std::string & movingFrame,
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const std::string & fixedFrame,
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const rclcpp::Time & stampFrom,
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const rclcpp::Time & stampTo,
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tf2_ros::Buffer & tfBuffer,
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double waitForTransform);
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bool convertRGBDMsgs(
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const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
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const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
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const std::vector<sensor_msgs::msg::CameraInfo> & cameraInfoMsgs,
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const std::vector<sensor_msgs::msg::CameraInfo> & depthCameraInfoMsgs,
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const std::string & frameId,
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const std::string & odomFrameId,
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const rclcpp::Time & odomStamp,
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cv::Mat & rgb,
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cv::Mat & depth,
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std::vector<rtabmap::CameraModel> & cameraModels,
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std::vector<rtabmap::StereoCameraModel> & stereoCameraModels,
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tf2_ros::Buffer & tfBuffer,
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double waitForTransform,
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bool alreadRectifiedImages,
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const std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > & localKeyPointsMsgs = std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> >(),
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const std::vector<std::vector<rtabmap_msgs::msg::Point3f> > & localPoints3dMsgs = std::vector<std::vector<rtabmap_msgs::msg::Point3f> >(),
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const std::vector<cv::Mat> & localDescriptorsMsgs = std::vector<cv::Mat>(),
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std::vector<cv::KeyPoint> * localKeyPoints = 0,
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std::vector<cv::Point3f> * localPoints3d = 0,
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cv::Mat * localDescriptors = 0);
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bool convertStereoMsg(
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const cv_bridge::CvImageConstPtr& leftImageMsg,
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const cv_bridge::CvImageConstPtr& rightImageMsg,
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const sensor_msgs::msg::CameraInfo& leftCamInfoMsg,
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const sensor_msgs::msg::CameraInfo& rightCamInfoMsg,
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const std::string & frameId,
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const std::string & odomFrameId,
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const rclcpp::Time & odomStamp,
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cv::Mat & left,
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cv::Mat & right,
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rtabmap::StereoCameraModel & stereoModel,
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tf2_ros::Buffer & tfBuffer,
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double waitForTransform,
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bool alreadyRectified);
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bool convertScanMsg(
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const sensor_msgs::msg::LaserScan & scan2dMsg,
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const std::string & frameId,
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const std::string & odomFrameId,
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const rclcpp::Time & odomStamp,
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rtabmap::LaserScan & scan,
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tf2_ros::Buffer & tfBuffer,
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double waitForTransform,
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bool outputInFrameId = false);
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bool convertScan3dMsg(
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const sensor_msgs::msg::PointCloud2 & scan3dMsg,
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const std::string & frameId,
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const std::string & odomFrameId,
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const rclcpp::Time & odomStamp,
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rtabmap::LaserScan & scan,
|
||||
tf2_ros::Buffer & tfBuffer,
|
||||
double waitForTransform,
|
||||
int maxPoints = 0,
|
||||
float maxRange = 0.0f,
|
||||
bool is2D = false);
|
||||
|
||||
bool deskew(
|
||||
const sensor_msgs::msg::PointCloud2 & input,
|
||||
sensor_msgs::msg::PointCloud2 & output,
|
||||
const std::string & fixedFrameId,
|
||||
tf2_ros::Buffer & tfBuffer,
|
||||
double waitForTransform,
|
||||
bool slerp = false);
|
||||
|
||||
bool deskew(
|
||||
const sensor_msgs::msg::PointCloud2 & input,
|
||||
sensor_msgs::msg::PointCloud2 & output,
|
||||
double previousStamp,
|
||||
const rtabmap::Transform & velocity);
|
||||
|
||||
// Missing function in ros2 (from old pcl_ros)
|
||||
void transformPointCloud (
|
||||
const Eigen::Matrix4f &transform,
|
||||
const sensor_msgs::msg::PointCloud2 &in,
|
||||
sensor_msgs::msg::PointCloud2 &out);
|
||||
|
||||
/** Return the size of a datatype (which is an enum of sensor_msgs::PointField::) in bytes
|
||||
* @param datatype one of the enums of sensor_msgs::PointField::
|
||||
* Note: Missing function in ros2 (from old pcl_ros)
|
||||
*/
|
||||
inline int sizeOfPointField(int datatype)
|
||||
{
|
||||
if ((datatype == sensor_msgs::msg::PointField::INT8) || (datatype == sensor_msgs::msg::PointField::UINT8))
|
||||
return 1;
|
||||
else if ((datatype == sensor_msgs::msg::PointField::INT16) || (datatype == sensor_msgs::msg::PointField::UINT16))
|
||||
return 2;
|
||||
else if ((datatype == sensor_msgs::msg::PointField::INT32) || (datatype == sensor_msgs::msg::PointField::UINT32) ||
|
||||
(datatype == sensor_msgs::msg::PointField::FLOAT32))
|
||||
return 4;
|
||||
else if (datatype == sensor_msgs::msg::PointField::FLOAT64)
|
||||
return 8;
|
||||
else
|
||||
{
|
||||
std::stringstream err;
|
||||
err << "PointField of type " << datatype << " does not exist";
|
||||
throw std::runtime_error(err.str());
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
template <typename K, typename V>
|
||||
typename std::map<K, V>::const_iterator getClosestIterator(
|
||||
const std::map<K, V> & buffer,
|
||||
const K & key)
|
||||
{
|
||||
UASSERT(!buffer.empty());
|
||||
typename std::map<K, V>::const_iterator iterB = buffer.lower_bound(key);
|
||||
typename std::map<K, V>::const_iterator iterA = iterB;
|
||||
if(iterA != buffer.begin())
|
||||
{
|
||||
iterA = --iterA;
|
||||
}
|
||||
if(iterB == buffer.end())
|
||||
{
|
||||
iterB = --iterB;
|
||||
}
|
||||
if(iterA == iterB)
|
||||
{
|
||||
return iterA;
|
||||
}
|
||||
if(iterA->first > key)
|
||||
{
|
||||
return iterA;
|
||||
}
|
||||
else if(iterB->first < key)
|
||||
{
|
||||
return iterB;
|
||||
}
|
||||
else if(key - iterA->first < iterB->first - key)
|
||||
{
|
||||
return iterA;
|
||||
}
|
||||
return iterB;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif /* MSGCONVERSION_H_ */
|
||||
@@ -0,0 +1,35 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>rtabmap_conversions</name>
|
||||
<version>0.22.0</version>
|
||||
<description>RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects.</description>
|
||||
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
|
||||
<author>Mathieu Labbe</author>
|
||||
<license>BSD</license>
|
||||
<url type="bugtracker">https://github.com/introlab/rtabmap_ros/issues</url>
|
||||
<url type="repository">https://github.com/introlab/rtabmap_ros</url>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<build_depend>ros_environment</build_depend>
|
||||
|
||||
<depend>cv_bridge</depend>
|
||||
<depend>geometry_msgs</depend>
|
||||
<depend>image_geometry</depend>
|
||||
<depend>laser_geometry</depend>
|
||||
<depend>pcl_conversions</depend>
|
||||
<depend>rclcpp</depend>
|
||||
<depend>rclcpp_components</depend>
|
||||
<depend>rtabmap</depend>
|
||||
<depend>rtabmap_msgs</depend>
|
||||
<depend>sensor_msgs</depend>
|
||||
<depend>std_msgs</depend>
|
||||
<depend>tf2</depend>
|
||||
<depend>tf2_eigen</depend>
|
||||
<depend>tf2_geometry_msgs</depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user