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 +1,31 @@
+#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