Function rtabmap_conversions::mapDataToROS

Defined in File MsgConversion.h

Function Documentation

void rtabmap_conversions::mapDataToROS(const std::map<int, rtabmap::Transform> &poses, const std::multimap<int, rtabmap::Link> &links, const std::map<int, rtabmap::Signature> &signatures, const rtabmap::Transform &mapToOdom, rtabmap_msgs::msg::MapData &msg)