Rtabmap fix noetic (#585)

luxonis · Aug 23, 2024 · e4e7013 · e4e7013
1 parent ac07ef2
commit e4e7013
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/depthai_bridge/src/ImageConverter.cpp b/depthai_bridge/src/ImageConverter.cpp
@@ -49,6 +49,10 @@ void ImageConverter::convertDispToDepth(double baseline) {
     _baseline = baseline;
 }
 
+void ImageConverter::reverseStereoSocketOrder() {
+    _reverseStereoSocketOrder = true;
+}
+
 void ImageConverter::addExposureOffset(dai::CameraExposureOffset& offset) {
     _expOffset = offset;
     _addExpOffset = true;

diff --git a/depthai_ros_driver/launch/rtabmap.launch b/depthai_ros_driver/launch/rtabmap.launch
@@ -9,7 +9,7 @@
         <arg name="name" value="$(arg name)"/>
         <arg name="params_file" value="$(arg params_file)"/>
     </include>
-    <node type="rgbd_odometry" name="rgbd_odometry" pkg="rtabmap_ros">
+    <node type="rgbd_odometry" name="rgbd_odometry" pkg="rtabmap_odom">
         <remap from="rgb/image" to="$(arg name)/rgb/image_raw"/>
         <remap from="rgb/camera_info" to="$(arg name)/rgb/camera_info"/>
         <remap from="depth/image" to="$(arg name)/stereo/image_raw"/>
@@ -20,15 +20,15 @@
         <rosparam param="approx_sync_max_interval">0.02</rosparam>
 
     </node>
-    <node type="rtabmap" name="rtabmap" pkg="rtabmap_ros">
+    <node type="rtabmap" name="rtabmap" pkg="rtabmap_slam">
         <remap from="rgb/image" to="$(arg name)/rgb/image_raw"/>
         <remap from="rgb/camera_info" to="$(arg name)/rgb/camera_info"/>
         <remap from="depth/image" to="$(arg name)/stereo/image_raw"/>
         <rosparam param="Rtabmap/DetectionRate">3.5</rosparam>
         <param name="frame_id" type="string" value="$(arg name)"/>
 
     </node>
-    <node type="rtabmapviz" name="rtabmap_viz" pkg="rtabmap_ros">
+    <node type="rtabmap_viz" name="rtabmap_viz" pkg="rtabmap_viz">
         <remap from="rgb/image" to="$(arg name)/rgb/image_raw"/>
         <remap from="rgb/camera_info" to="$(arg name)/rgb/camera_info"/>
         <remap from="depth/image" to="$(arg name)/stereo/image_raw"/>