feat(slam): add rtabmap_ros

rtabmap_ros/rtabmap_msgs/msg/SensorData.msg

@@ -0,0 +1,66 @@
+#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