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
@@ -0,0 +1,50 @@
+
+########################################
+# 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