#include <ros/ros.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>
#include <rtabmap_ros/MapData.h>
#include <rtabmap_ros/Info.h>
#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap_ros/AddLink.h>
#include <rtabmap_ros/GetMap.h>
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/VWDictionary.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/RegistrationVis.h>
#include <rtabmap/utilite/UStl.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>

Include dependency graph for ExternalLoopDetectionExample.cpp:

Typedefs
typedef message_filters::sync_policies::ExactTime< rtabmap_ros::MapData, rtabmap_ros::Info >	MyInfoMapSyncPolicy

Functions
int	main (int argc, char **argv)

void	mapDataCallback (const rtabmap_ros::MapDataConstPtr &mapDataMsg, const rtabmap_ros::InfoConstPtr &infoMsg)

Variables
ros::ServiceClient	addLinkSrv

bool	g_localizationMode = false

ros::ServiceClient	getMapSrv

std::map< int, rtabmap::SensorData >	localData

rtabmap::Rtabmap	loopClosureDetector

rtabmap::RegistrationVis	reg