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feat [ROS]: pub output as pose with cov msg type #490

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feat [ROS]: pub output as pose with cov msg type #490

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7 changes: 7 additions & 0 deletions ros/src/OdometryServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,8 @@ OdometryServer::OdometryServer(const rclcpp::NodeOptions &options)
// Initialize publishers
rclcpp::QoS qos((rclcpp::SystemDefaultsQoS().keep_last(1).durability_volatile()));
odom_publisher_ = create_publisher<nav_msgs::msg::Odometry>("kiss/odometry", qos);
pose_publisher_ =
create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>("kiss/pose", qos);
if (publish_debug_clouds_) {
frame_publisher_ = create_publisher<sensor_msgs::msg::PointCloud2>("kiss/frame", qos);
kpoints_publisher_ = create_publisher<sensor_msgs::msg::PointCloud2>("kiss/keypoints", qos);
Expand Down Expand Up @@ -221,6 +223,11 @@ void OdometryServer::PublishOdometry(const Sophus::SE3d &kiss_pose,
odom_msg.pose.covariance[28] = orientation_covariance_;
odom_msg.pose.covariance[35] = orientation_covariance_;
odom_publisher_->publish(std::move(odom_msg));

geometry_msgs::msg::PoseWithCovarianceStamped pose_msg;
pose_msg.header = odom_msg.header;
pose_msg.pose = odom_msg.pose;
pose_publisher_->publish(pose_msg);
}

void OdometryServer::PublishClouds(const std::vector<Eigen::Vector3d> &frame,
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2 changes: 2 additions & 0 deletions ros/src/OdometryServer.hpp
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Expand Up @@ -26,6 +26,7 @@
#include "kiss_icp/pipeline/KissICP.hpp"

// ROS 2
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
Expand Down Expand Up @@ -76,6 +77,7 @@ class OdometryServer : public rclcpp::Node {

/// Data publishers.
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_publisher_;
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_publisher_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr frame_publisher_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr kpoints_publisher_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr map_publisher_;
Expand Down