| 28 | static Vector3d last_path(0.0, 0.0, 0.0); |
| 29 | |
| 30 | void registerPub(ros::NodeHandle &n) |
| 31 | { |
| 32 | pub_latest_odometry = n.advertise<nav_msgs::Odometry>("imu_propagate", 1000); |
| 33 | pub_path = n.advertise<nav_msgs::Path>("path", 1000); |
| 34 | pub_odometry = n.advertise<nav_msgs::Odometry>("odometry", 1000); |
| 35 | pub_point_cloud = n.advertise<sensor_msgs::PointCloud>("point_cloud", 1000); |
| 36 | pub_margin_cloud = n.advertise<sensor_msgs::PointCloud>("history_cloud", 1000); |
| 37 | pub_key_poses = n.advertise<visualization_msgs::Marker>("key_poses", 1000); |
| 38 | pub_camera_pose = n.advertise<nav_msgs::Odometry>("camera_pose", 1000); |
| 39 | pub_camera_pose_visual = n.advertise<visualization_msgs::MarkerArray>("camera_pose_visual", 1000); |
| 40 | pub_keyframe_pose = n.advertise<nav_msgs::Odometry>("keyframe_pose", 1000); |
| 41 | pub_keyframe_point = n.advertise<sensor_msgs::PointCloud>("keyframe_point", 1000); |
| 42 | pub_extrinsic = n.advertise<nav_msgs::Odometry>("extrinsic", 1000); |
| 43 | pub_gnss_lla = n.advertise<sensor_msgs::NavSatFix>("gnss_fused_lla", 1000); |
| 44 | pub_enu_path = n.advertise<nav_msgs::Path>("gnss_enu_path", 1000); |
| 45 | pub_anc_lla = n.advertise<sensor_msgs::NavSatFix>("gnss_anchor_lla", 1000); |
| 46 | pub_enu_pose = n.advertise<geometry_msgs::PoseStamped>("enu_pose", 1000); |
| 47 | |
| 48 | cameraposevisual.setScale(1); |
| 49 | cameraposevisual.setLineWidth(0.05); |
| 50 | keyframebasevisual.setScale(0.1); |
| 51 | keyframebasevisual.setLineWidth(0.01); |
| 52 | } |
| 53 | |
| 54 | void pubLatestOdometry(const Eigen::Vector3d &P, const Eigen::Quaterniond &Q, const Eigen::Vector3d &V, const std_msgs::Header &header) |
| 55 | { |
no test coverage detected