feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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+
+sensor_msgs/CameraInfo camera_info
+geometry_msgs/Transform local_transform
+
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+
+CameraModel[] models
+
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+
+std_msgs/Header header
+
+# EnvSensor
+int32 type
+float64 value
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+
+float64 stamp      # in seconds
+float64 longitude  # DD format
+float64 latitude   # DD format
+float64 altitude   # in meters
+float64 error      # in meters
+float64 bearing    # North 0->360 deg
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+
+std_msgs/Header header
+
+# compressed global descriptor
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+int32 type
+uint8[] info
+uint8[] data
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+
+std_msgs/Header header
+
+# Set either node_id or node_label
+int32 node_id
+string node_label
+
+# optional: if not set, the base frame of the robot is used
+string frame_id
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+
+########################################
+# RTAB-Map info with statistics 
+########################################
+
+std_msgs/Header header
+
+int32 ref_id
+int32 loop_closure_id
+int32 proximity_detection_id
+int32 landmark_id
+
+geometry_msgs/Transform loop_closure_transform
+
+####
+# For statistics...
+####
+# State (node IDs) of the current Working Memory (including STM)
+int32[] wm_state
+
+# std::map<int, float> posterior;
+int32[] posterior_keys
+float32[] posterior_values
+
+# std::map<int, float> likelihood;
+int32[] likelihood_keys
+float32[] likelihood_values
+
+# std::map<int, float> raw_likelihood;
+int32[] raw_likelihood_keys
+float32[] raw_likelihood_values
+
+# std::map<int, int> weights;
+int32[] weights_keys
+int32[] weights_values
+
+# std::map<int, std::string> labels;
+int32[] labels_keys
+string[] labels_values
+
+# std::map<std::string, float> stats
+string[] stats_keys
+float32[] stats_values
+
+# std::vector<int> local_path
+int32[] local_path
+int32 current_goal_id
+
+# std::vector<int> odomCache
+MapGraph odom_cache
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+#class cv::KeyPoint
+#{
+#    Point2f pt;
+#    float size;
+#    float angle;
+#    float response;
+#    int octave;
+#    int class_id;
+#}
+
+Point2f pt
+float32 size
+float32 angle
+float32 response
+int32 octave
+int32 class_id
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+
+# header.stamp: the timestamp of the detection (e.g. image timestamp)
+# header.frame_id: the base frame of pose (e.g., camera optical frame)
+std_msgs/Header header
+
+# Landmark's frame id
+string landmark_frame_id
+
+# Landmark's unique ID: should be >0
+int32 id
+
+# Size in meters of the landmark/tag (optional, set 0 to not use it).
+float32 size
+
+# Pose of the landmark in header.frame_id frame.
+# If covariance is unknown, keep it as null matrix.
+# rtabmap_slam/rtabmap's landmark_angular_variance and
+# landmark_linear_variance parameters can be used
+# for convenience if covariance is null.
+geometry_msgs/PoseWithCovariance pose
+
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+
+# header.stamp: the timestamp of the detection (e.g. image timestamp)
+# header.frame_id: the base frame of pose (e.g., camera optical frame)
+std_msgs/Header header
+
+LandmarkDetection[] landmarks
+
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+#class rtabmap::Link
+#{
+#   int from;
+#   int to;
+#   Type type;
+#   Transform transform;
+#   cv::Mat(6,6,CV_64FC1) information;
+#}
+
+int32 from_id
+int32 to_id
+int32 type
+geometry_msgs/Transform transform
+float64[36] information
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+
+std_msgs/Header header
+
+##################
+# Optimized graph
+##################
+MapGraph graph
+
+##################
+# Graph data
+##################
+Node[] nodes
+
+
+
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+
+std_msgs/Header header
+
+##
+# /map to /odom transform
+# Always identity when the graph is optimized from the latest pose.
+##
+geometry_msgs/Transform map_to_odom
+
+# The poses
+int32[] poses_id
+geometry_msgs/Pose[] poses
+
+# The links
+Link[] links
+
+
+
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+#class rtabmap::Signature
+
+int32 id
+int32 map_id
+int32 weight
+float64 stamp
+string label
+
+# Pose from odometry not corrected
+geometry_msgs/Pose pose
+
+# std::multimap<wordId, index>
+# std::vector<cv::Keypoint>
+# std::vector<cv::Point3f>
+int32[] word_id_keys
+int32[] word_id_values
+KeyPoint[] word_kpts
+Point3f[] word_pts
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] word_descriptors
+
+SensorData data
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+
+std_msgs/Header header
+
+bool lost
+int32 matches
+int32 inliers
+float32 icp_inliers_ratio
+float32 icp_rotation
+float32 icp_translation
+float32 icp_structural_complexity
+float32 icp_structural_distribution
+int32 icp_correspondences
+float64[36] covariance
+int32 features
+int32 local_map_size
+int32 local_scan_map_size
+int32 local_key_frames
+int32 local_bundle_outliers
+int32 local_bundle_constraints
+float32 local_bundle_time
+float32 local_bundle_avg_inlier_distance
+int32 local_bundle_max_key_frames_for_inlier
+bool key_frame_added
+float32 time_estimation
+float32 time_particle_filtering
+float32 stamp
+float32 interval
+float32 distance_travelled
+int32 memory_usage # MB
+
+float32 gravity_roll_error
+float32 gravity_pitch_error
+
+# Local bundle camera ids
+int32[] local_bundle_ids
+
+# Local bundle camera models
+CameraModels[] local_bundle_models
+
+# Local bundle camera poses
+geometry_msgs/Pose[] local_bundle_poses
+
+geometry_msgs/Transform transform
+geometry_msgs/Transform transform_filtered
+geometry_msgs/Transform transform_ground_truth
+geometry_msgs/Transform guess
+
+# 0=F2M, 1=F2F
+int32 type
+
+# F2M odometry
+#   std::multimap<int, cv::KeyPoint> words;
+#   std::vector<int> wordMatches;
+#   std::vector<int> wordInliers;
+int32[] words_keys
+KeyPoint[] words_values
+int32[] word_matches
+int32[] word_inliers
+int32[] local_map_keys
+Point3f[] local_map_values
+
+# local scan map data
+sensor_msgs/PointCloud2 local_scan_map
+
+# F2F odometry
+#   std::vector<cv::Point2f> ref_corners;
+#   std::vector<cv::Point2f> new_corners;
+#   std::vector<int> corner_inliers;
+Point2f[] ref_corners
+Point2f[] new_corners
+int32[] corner_inliers
+
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+
+std_msgs/Header header
+
+int32[] node_ids
+geometry_msgs/Pose[] poses
+
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+#class cv::Point2f
+#{
+#    float x;
+#    float y;
+#}
+
+float32 x
+float32 y
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+#class cv::Point3f
+#{
+#    float x;
+#    float y;
+#    float z;
+#}
+
+float32 x
+float32 y
+float32 z
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+
+std_msgs/Header header
+
+# For stereo, rgb corresponds to left camera, and depth the right camera.
+
+# camera info
+sensor_msgs/CameraInfo rgb_camera_info
+sensor_msgs/CameraInfo depth_camera_info
+
+# Raw
+sensor_msgs/Image rgb
+sensor_msgs/Image depth
+
+# Compressed
+sensor_msgs/CompressedImage rgb_compressed
+sensor_msgs/CompressedImage depth_compressed
+
+# Local features
+KeyPoint[] key_points
+Point3f[] points
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] descriptors
+
+GlobalDescriptor global_descriptor
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+
+std_msgs/Header header
+
+RGBDImage[] rgbd_images
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+
+std_msgs/Header header
+
+# scan or scan_cloud is set
+sensor_msgs/LaserScan scan
+sensor_msgs/PointCloud2 scan_cloud
+
+GlobalDescriptor global_descriptor
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+#class rtabmap::SensorData
+
+std_msgs/Header header
+
+# For RGB-D, left corresponds to rgb camera, and right corresponds to depth camera.
+
+# Raw images
+sensor_msgs/Image left
+sensor_msgs/Image right
+
+# Compressed images
+# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
+uint8[] left_compressed
+uint8[] right_compressed
+
+# Camera info
+sensor_msgs/CameraInfo[] left_camera_info
+sensor_msgs/CameraInfo[] right_camera_info
+
+# Transform from base frame to camera frame
+geometry_msgs/Transform[] local_transform
+
+# raw 2d or 3D laser scan
+sensor_msgs/PointCloud2 laser_scan
+# compressed 2D or 3D laser scan
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] laser_scan_compressed
+int32 laser_scan_max_pts
+float32 laser_scan_max_range
+int32 laser_scan_format
+# local transform (base frame -> laser frame)
+geometry_msgs/Transform laser_scan_local_transform
+
+# compressed user data
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] user_data
+
+# compressed occupancy grid
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] grid_ground
+uint8[] grid_obstacles
+uint8[] grid_empty_cells
+float32 grid_cell_size
+Point3f grid_view_point
+
+# Local features
+KeyPoint[] key_points
+Point3f[] points
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] descriptors
+
+GlobalDescriptor[] global_descriptors
+
+EnvSensor[] env_sensors
+
+sensor_msgs/Imu imu
+geometry_msgs/Transform imu_local_transform
+
+LandmarkDetection[] landmarks
+
+# Ground truth
+geometry_msgs/Pose ground_truth_pose
+
+# GPS
+GPS gps
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+
+std_msgs/Header header
+
+# OpenCV matrix containing the user data. A matrix of type CV_8UC1 
+# with 1 row is considered to be compressed (with rtabmap::compressData() method).
+# If you have one dimension unsigned 8 bits uncompressed data, make sure to transpose it
+# (to have multiple rows instead of multiple columns) in order to be detected as
+# not compressed.
+uint32 rows
+uint32 cols
+uint32 type
+uint8[] data