feat(slam): add rtabmap_ros

rtabmap_ros/rtabmap_msgs/srv/AddLink.srv

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+#request
+Link link
+---
+#response

rtabmap_ros/rtabmap_msgs/srv/CleanupLocalGrids.srv

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+#  Cleanup local grids service
+# 
+#     Clear empty space from local occupancy grids 
+#     (and laser scans) based on the current optimized global 2d grid map.
+#     If the map needs to be regenerated in the future (e.g., when
+#     we re-use the map in SLAM mode), removed obstacles won't reappear.
+#     Use this with care and only when you know that the map doesn't have errors, 
+#     otherwise some real obstacles/walls may be cleared if there is too much 
+#     drift in the map.
+#
+
+# Radius in cells around empty cell without obstacles to clear underlying obstacles, default 1 cell if not set.
+int32 radius
+
+# Filter also the scans, default false if not set.
+# The filtered laser scans will be used for localization,
+# so if dynamic obstacles have been removed, localization won't try to
+# match them anymore. Filtering the laser scans cannot be reverted, 
+# but grids can (see DatabaseViewer->Edit menu).
+bool filter_scans
+
+---
+# return the number of grids or scans modified, -1 if there is an error
+int32 modified

rtabmap_ros/rtabmap_msgs/srv/DetectMoreLoopClosures.srv

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+# Detect more loop closures service
+#
+#     Based on the current optimized graph, 
+#     this process will try to find more nodes corresponding with each 
+#     other, and thus finding more loop closures to add to graph.
+# 
+
+# Cluster radius (m),     default 1 m if not set
+float32 cluster_radius_max
+
+# Cluster radius min (m), default 0 m if not set
+float32 cluster_radius_min
+
+# Cluster angle (deg),    default 0 deg if not set
+float32 cluster_angle
+
+# Iterations,             default 1 if not set
+int32 iterations
+
+# Add only intra session loop closures
+bool intra_only
+
+# Add only inter session loop closures
+bool inter_only
+---
+# return the number of loop closures detected, or -1 if it failed.
+int32 detected

rtabmap_ros/rtabmap_msgs/srv/GetMap.srv

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+#request
+bool global_map
+bool optimized
+bool graph_only
+---
+#response
+MapData data

rtabmap_ros/rtabmap_msgs/srv/GetMap2.srv

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+#request
+bool global_map
+bool optimized
+bool with_images
+bool with_scans
+bool with_user_data
+bool with_grids
+bool with_words
+bool with_global_descriptors
+---
+#response
+MapData data

rtabmap_ros/rtabmap_msgs/srv/GetNodeData.srv

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+#request
+int32[] ids
+bool images
+bool scan
+bool grid
+bool user_data
+---
+#response
+Node[] data

rtabmap_ros/rtabmap_msgs/srv/GetNodesInRadius.srv

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+#request
+
+# In mapping mode (Mem/IncrementalMemory=true), if target pose 
+#   and node_id are all zeros, poses around the latest node 
+#   in the graph are returned.
+# In localization mode (Mem/IncrementalMemory=false), if target pose 
+#   and node_id are all zeros, poses around the latest localization 
+#   pose are returned.
+# If node_id is not zero, target pose is ignored.
+
+# Node id
+int32 node_id
+
+# Target pose:
+float32 x
+float32 y
+float32 z
+
+# Radius, <=0 means that RGBD/LocalRadius will be used 
+# if k is also 0. If k>0 and a radius of 0 means all nearest 
+# poses up to k.
+float32 radius
+
+# Maximum number of nearest poses
+int32 k
+
+---
+#response
+int32[] ids
+geometry_msgs/Pose[] poses
+float32[] dists_sqr

rtabmap_ros/rtabmap_msgs/srv/GetPlan.srv

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+# Get a plan from the current position to the goal node or pose 
+
+# The final node of the goal (set 0 to use pose instead)
+int32 goal_node
+# The final pose of the goal position (used only if goalNodeId=0)
+geometry_msgs/PoseStamped goal
+
+# How many meters from the map's graph we can plan (0=infinite)
+float32 tolerance
+---
+Path plan

rtabmap_ros/rtabmap_msgs/srv/GlobalBundleAdjustment.srv

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+# Global Bundle Adjustment service
+#
+#       Perform global bundle adjustment. Note that as soon as the map 
+#       is modified again, the graph is re-optimized the standard way (without SBA).
+#       It then makes only sense to use this after a mapping run (and after a call 
+#       to /rtabmap/pause) when you know that the robot will restart in localization 
+#       mode the next time, or at the beginning of the localization session.
+#
+
+# Optimizer type (0=g2o, 1=CVSBA), default 0
+int32 type
+
+# Iterations,        default 0 (use Optimizer/Iterations already loaded in the node)
+int32 iterations
+
+# Pixel variance,    default 0 (use g2o/PixelVariance already loaded in the node)
+float32 pixel_variance
+
+# Use vocabulary matches, default false (rematch all features between frames)
+bool voc_matches
+---
+# return false if failure

rtabmap_ros/rtabmap_msgs/srv/ListLabels.srv

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+#request
+---
+#response 
+int32[] ids
+string[] labels

rtabmap_ros/rtabmap_msgs/srv/LoadDatabase.srv

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+#request
+
+# Local database path on which rtabmap is running.
+# If the path doesn't exist, a new database will be created.
+string database_path
+
+# If the database already exists, data will be cleared if true.
+bool clear
+
+---
+#response, return false on rtabmap initialization failure.

rtabmap_ros/rtabmap_msgs/srv/PublishMap.srv

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+#request
+bool global_map
+bool optimized
+bool graph_only
+---
+#response

rtabmap_ros/rtabmap_msgs/srv/RemoveLabel.srv

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+#request
+string label
+---
+#response 

rtabmap_ros/rtabmap_msgs/srv/ResetPose.srv

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+#request
+float32 x
+float32 y
+float32 z
+float32 roll
+float32 pitch
+float32 yaw
+---
+#response

rtabmap_ros/rtabmap_msgs/srv/SetGoal.srv

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+#request
+
+# 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
+
+---
+
+#response 
+int32[] path_ids
+geometry_msgs/Pose[] path_poses
+float32 planning_time

rtabmap_ros/rtabmap_msgs/srv/SetLabel.srv

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+#request
+# Set node_id = 0 to set label to last node
+int32 node_id
+string node_label
+---
+#response