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added pose publisher in Tracking.cc and Tracking.h #33

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added pose publisher in Tracking.cc and Tracking.h #33

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5 changes: 5 additions & 0 deletions include/Tracking.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
#include "MapPublisher.h"

#include<tf/transform_broadcaster.h>
#include "geometry_msgs/PoseStamped.h"


namespace ORB_SLAM
Expand Down Expand Up @@ -180,6 +181,10 @@ class Tracking

// Transfor broadcaster (for visualization in rviz)
tf::TransformBroadcaster mTfBr;

// Pose broadcaster
ros::NodeHandle n;
ros::Publisher PosPub = n.advertise<geometry_msgs::PoseStamped>("ORB_SLAM/pose", 5);
};

} //namespace ORB_SLAM
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15 changes: 15 additions & 0 deletions src/Tracking.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@
#include<fstream>




using namespace std;

namespace ORB_SLAM
Expand Down Expand Up @@ -312,6 +314,19 @@ void Tracking::GrabImage(const sensor_msgs::ImageConstPtr& msg)
tf::Transform tfTcw(M,V);

mTfBr.sendTransform(tf::StampedTransform(tfTcw,ros::Time::now(), "ORB_SLAM/World", "ORB_SLAM/Camera"));

geometry_msgs::PoseStamped poseMSG;
poseMSG.pose.position.x = tfTcw.getOrigin().x();
poseMSG.pose.position.y = tfTcw.getOrigin().y();
poseMSG.pose.position.z = tfTcw.getOrigin().z();
poseMSG.pose.orientation.x = tfTcw.getRotation().x();
poseMSG.pose.orientation.y = tfTcw.getRotation().y();
poseMSG.pose.orientation.z = tfTcw.getRotation().z();
poseMSG.pose.orientation.w = tfTcw.getRotation().w();
poseMSG.header.frame_id = "VSLAM";
poseMSG.header.stamp = ros::Time::now();
PosPub.publish(poseMSG);

}

}
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