mirror of
https://github.com/introlab/rtabmap_ros.git
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First version rtabmap_launch working
This commit is contained in:
matlabbe
@@ -0,0 +1,463 @@
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/*
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Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <ros/ros.h>
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#include <pluginlib/class_list_macros.hpp>
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#include <nodelet/nodelet.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl_ros/transforms.h>
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#include <tf/transform_listener.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <image_transport/image_transport.h>
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#include <image_transport/subscriber_filter.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/subscriber.h>
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#include <message_filters/sync_policies/exact_time.h>
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#include <rtabmap_conversions/MsgConversion.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap/core/util3d_filtering.h>
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namespace rtabmap_util
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{
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/**
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* Nodelet used to merge point clouds from different sensors into a single
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* assembled cloud. If fixed_frame_id is set and approx_sync is true,
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* the clouds are adjusted to include the displacement of the robot
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* in the output cloud.
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*/
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class PointCloudAggregator : public nodelet::Nodelet
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{
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public:
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PointCloudAggregator() :
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warningThread_(0),
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callbackCalled_(false),
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exactSync4_(0),
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approxSync4_(0),
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exactSync3_(0),
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approxSync3_(0),
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exactSync2_(0),
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approxSync2_(0),
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waitForTransformDuration_(0.1),
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xyzOutput_(false)
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{}
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virtual ~PointCloudAggregator()
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{
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delete exactSync4_;
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delete approxSync4_;
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delete exactSync3_;
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delete approxSync3_;
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delete exactSync2_;
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delete approxSync2_;
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if(warningThread_)
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{
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callbackCalled_=true;
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warningThread_->join();
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delete warningThread_;
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}
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}
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private:
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virtual void onInit()
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{
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ros::NodeHandle & nh = getNodeHandle();
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ros::NodeHandle & pnh = getPrivateNodeHandle();
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int queueSize = 5;
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int count = 2;
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bool approx=true;
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double approxSyncMaxInterval = 0.0;
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pnh.param("queue_size", queueSize, queueSize);
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pnh.param("frame_id", frameId_, frameId_);
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pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
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pnh.param("approx_sync", approx, approx);
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pnh.param("approx_sync_max_interval", approxSyncMaxInterval, approxSyncMaxInterval);
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pnh.param("count", count, count);
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pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
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pnh.param("xyz_output", xyzOutput_, xyzOutput_);
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cloudSub_1_.subscribe(nh, "cloud1", 1);
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cloudSub_2_.subscribe(nh, "cloud2", 1);
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std::string subscribedTopicsMsg;
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if(count == 4)
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{
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cloudSub_3_.subscribe(nh, "cloud3", 1);
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cloudSub_4_.subscribe(nh, "cloud4", 1);
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if(approx)
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{
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approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
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if(approxSyncMaxInterval > 0.0)
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approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
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approxSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
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}
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else
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{
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exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
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exactSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s",
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getName().c_str(),
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approx?"approx":"exact",
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approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
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cloudSub_1_.getTopic().c_str(),
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cloudSub_2_.getTopic().c_str(),
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cloudSub_3_.getTopic().c_str(),
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cloudSub_4_.getTopic().c_str());
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}
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else if(count == 3)
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{
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cloudSub_3_.subscribe(nh, "cloud3", 1);
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if(approx)
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{
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approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
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if(approxSyncMaxInterval > 0.0)
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approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
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approxSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
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}
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else
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{
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exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
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exactSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",
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getName().c_str(),
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approx?"approx":"exact",
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approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
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cloudSub_1_.getTopic().c_str(),
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cloudSub_2_.getTopic().c_str(),
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cloudSub_3_.getTopic().c_str());
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}
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else
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{
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if(approx)
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{
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approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
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if(approxSyncMaxInterval > 0.0)
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approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
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approxSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2));
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}
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else
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{
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exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
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exactSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2));
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}
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subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s",
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getName().c_str(),
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approx?"approx":"exact",
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approx&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
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cloudSub_1_.getTopic().c_str(),
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cloudSub_2_.getTopic().c_str());
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}
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cloudPub_ = nh.advertise<sensor_msgs::PointCloud2>("combined_cloud", 1);
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warningThread_ = new boost::thread(boost::bind(&PointCloudAggregator::warningLoop, this, subscribedTopicsMsg, approx));
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NODELET_INFO("%s", subscribedTopicsMsg.c_str());
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}
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void clouds4_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_3,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_4)
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{
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std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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clouds.push_back(cloudMsg_3);
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clouds.push_back(cloudMsg_4);
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combineClouds(clouds);
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}
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void clouds3_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_3)
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{
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std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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clouds.push_back(cloudMsg_3);
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combineClouds(clouds);
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}
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void clouds2_callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg_1,
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const sensor_msgs::PointCloud2ConstPtr & cloudMsg_2)
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{
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std::vector<sensor_msgs::PointCloud2ConstPtr> clouds;
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clouds.push_back(cloudMsg_1);
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clouds.push_back(cloudMsg_2);
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combineClouds(clouds);
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}
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void combineClouds(const std::vector<sensor_msgs::PointCloud2ConstPtr> & cloudMsgs)
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{
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callbackCalled_ = true;
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ROS_ASSERT(cloudMsgs.size() > 1);
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if(cloudPub_.getNumSubscribers())
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{
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pcl::PCLPointCloud2::Ptr output(new pcl::PCLPointCloud2);
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std::string frameId = frameId_;
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if(!frameId.empty() && frameId.compare(cloudMsgs[0]->header.frame_id) != 0)
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{
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sensor_msgs::PointCloud2 tmp;
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pcl_ros::transformPointCloud(frameId, *cloudMsgs[0], tmp, tfListener_);
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pcl_conversions::toPCL(tmp, *output);
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}
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else
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{
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pcl_conversions::toPCL(*cloudMsgs[0], *output);
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frameId = cloudMsgs[0]->header.frame_id;
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}
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if(xyzOutput_ && !output->data.empty())
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{
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// convert only if not already XYZ cloud
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bool hasField[4] = {false};
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for(size_t i=0; i<output->fields.size(); ++i)
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{
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if(output->fields[i].name.compare("x") == 0)
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{
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hasField[0] = true;
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}
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else if(output->fields[i].name.compare("y") == 0)
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{
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hasField[1] = true;
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}
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else if(output->fields[i].name.compare("z") == 0)
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{
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hasField[2] = true;
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}
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else
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{
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hasField[3] = true; // other
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break;
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}
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}
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if(hasField[0] && hasField[1] && hasField[2] && !hasField[3])
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{
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// do nothing, already XYZ
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}
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else
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{
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pcl::PointCloud<pcl::PointXYZ> cloudxyz;
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pcl::fromPCLPointCloud2(*output, cloudxyz);
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pcl::toPCLPointCloud2(cloudxyz, *output);
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}
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}
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for(unsigned int i=1; i<cloudMsgs.size(); ++i)
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{
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rtabmap::Transform cloudDisplacement;
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if(!fixedFrameId_.empty() &&
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cloudMsgs[0]->header.stamp != cloudMsgs[i]->header.stamp)
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{
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// approx sync
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cloudDisplacement = rtabmap_conversions::getTransform(
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frameId, //sourceTargetFrame
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fixedFrameId_, //fixedFrame
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cloudMsgs[i]->header.stamp, //stampSource
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cloudMsgs[0]->header.stamp, //stampTarget
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tfListener_,
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waitForTransformDuration_);
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}
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pcl::PCLPointCloud2::Ptr cloud2(new pcl::PCLPointCloud2);
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if(frameId.compare(cloudMsgs[i]->header.frame_id) != 0)
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{
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sensor_msgs::PointCloud2 tmp;
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pcl_ros::transformPointCloud(frameId, *cloudMsgs[i], tmp, tfListener_);
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if(!cloudDisplacement.isNull())
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{
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sensor_msgs::PointCloud2 tmp2;
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pcl_ros::transformPointCloud(cloudDisplacement.toEigen4f(), tmp, tmp2);
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pcl_conversions::toPCL(tmp2, *cloud2);
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}
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else
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{
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pcl_conversions::toPCL(tmp, *cloud2);
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}
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}
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else
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{
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if(!cloudDisplacement.isNull())
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{
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sensor_msgs::PointCloud2 tmp;
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pcl_ros::transformPointCloud(cloudDisplacement.toEigen4f(), *cloudMsgs[i], tmp);
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pcl_conversions::toPCL(tmp, *cloud2);
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}
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else
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{
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pcl_conversions::toPCL(*cloudMsgs[i], *cloud2);
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}
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}
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if(!cloud2->is_dense)
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{
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// remove nans
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cloud2 = rtabmap::util3d::removeNaNFromPointCloud(cloud2);
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}
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if(xyzOutput_ && !cloud2->data.empty())
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{
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// convert only if not already XYZ cloud
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bool hasField[4] = {false};
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for(size_t i=0; i<cloud2->fields.size(); ++i)
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{
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if(cloud2->fields[i].name.compare("x") == 0)
|
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{
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hasField[0] = true;
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}
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else if(cloud2->fields[i].name.compare("y") == 0)
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{
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hasField[1] = true;
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}
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else if(cloud2->fields[i].name.compare("z") == 0)
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{
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hasField[2] = true;
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}
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else
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{
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hasField[3] = true; // other
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break;
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}
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}
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if(hasField[0] && hasField[1] && hasField[2] && !hasField[3])
|
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{
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// do nothing, already XYZ
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}
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else
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{
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pcl::PointCloud<pcl::PointXYZ> cloudxyz;
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pcl::fromPCLPointCloud2(*cloud2, cloudxyz);
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pcl::toPCLPointCloud2(cloudxyz, *cloud2);
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}
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}
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|
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if(output->data.empty())
|
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{
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output = cloud2;
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}
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else if(!cloud2->data.empty())
|
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{
|
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|
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if(output->fields.size() != cloud2->fields.size())
|
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{
|
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ROS_WARN("%s: Input topics don't have all the "
|
||||
"same number of fields (cloud1=%d, cloud%d=%d), concatenation "
|
||||
"may fails. You can enable \"xyz_output\" option "
|
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"to convert all inputs to XYZ.",
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getName().c_str(),
|
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(int)output->fields.size(),
|
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i+1,
|
||||
(int)output->fields.size());
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}
|
||||
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pcl::PCLPointCloud2::Ptr tmp_output(new pcl::PCLPointCloud2);
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#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
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pcl::concatenate(*output, *cloud2, *tmp_output);
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#else
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pcl::concatenatePointCloud(*output, *cloud2, *tmp_output);
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#endif
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//Make sure row_step is the sum of both
|
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tmp_output->row_step = tmp_output->width * tmp_output->point_step;
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output = tmp_output;
|
||||
}
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||||
}
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||||
|
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sensor_msgs::PointCloud2 rosCloud;
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pcl_conversions::moveFromPCL(*output, rosCloud);
|
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rosCloud.header.stamp = cloudMsgs[0]->header.stamp;
|
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rosCloud.header.frame_id = frameId;
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cloudPub_.publish(rosCloud);
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}
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||||
}
|
||||
|
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void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync)
|
||||
{
|
||||
ros::Duration r(5.0);
|
||||
while(!callbackCalled_)
|
||||
{
|
||||
r.sleep();
|
||||
if(!callbackCalled_)
|
||||
{
|
||||
ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
|
||||
"published (\"$ rostopic hz my_topic\") and the timestamps in their "
|
||||
"header are set. %s%s",
|
||||
getName().c_str(),
|
||||
approxSync?"":"Parameter \"approx_sync\" is false, which means that input "
|
||||
"topics should have all the exact timestamp for the callback to be called.",
|
||||
subscribedTopicsMsg.c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
boost::thread * warningThread_;
|
||||
bool callbackCalled_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync4Policy;
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync4Policy;
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync3Policy;
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync3Policy;
|
||||
typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ExactSync2Policy;
|
||||
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> ApproxSync2Policy;
|
||||
message_filters::Synchronizer<ExactSync4Policy>* exactSync4_;
|
||||
message_filters::Synchronizer<ApproxSync4Policy>* approxSync4_;
|
||||
message_filters::Synchronizer<ExactSync3Policy>* exactSync3_;
|
||||
message_filters::Synchronizer<ApproxSync3Policy>* approxSync3_;
|
||||
message_filters::Synchronizer<ExactSync2Policy>* exactSync2_;
|
||||
message_filters::Synchronizer<ApproxSync2Policy>* approxSync2_;
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_1_;
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_2_;
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_3_;
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> cloudSub_4_;
|
||||
|
||||
ros::Publisher cloudPub_;
|
||||
|
||||
std::string frameId_;
|
||||
std::string fixedFrameId_;
|
||||
double waitForTransformDuration_;
|
||||
bool xyzOutput_;
|
||||
tf::TransformListener tfListener_;
|
||||
};
|
||||
|
||||
PLUGINLIB_EXPORT_CLASS(rtabmap_util::PointCloudAggregator, nodelet::Nodelet);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user