| 25 | } |
| 26 | |
| 27 | void PoseGraph::registerPub(ros::NodeHandle &n) |
| 28 | { |
| 29 | pub_pg_path = n.advertise<nav_msgs::Path>("pose_graph_path", 1000); |
| 30 | pub_base_path = n.advertise<nav_msgs::Path>("base_path", 1000); |
| 31 | pub_pose_graph = n.advertise<visualization_msgs::MarkerArray>("pose_graph", 1000); |
| 32 | for (int i = 1; i < 10; i++) |
| 33 | pub_path[i] = n.advertise<nav_msgs::Path>("path_" + to_string(i), 1000); |
| 34 | } |
| 35 | |
| 36 | void PoseGraph::loadVocabulary(std::string voc_path) |
| 37 | { |