mirror of
https://github.com/introlab/rtabmap_ros.git
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moved all the header file into include
This commit is contained in:
Di Zeng
@@ -0,0 +1,487 @@
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/*
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Copyright (c) 2010-2016, 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
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
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||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
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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||||
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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
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
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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#ifndef COREWRAPPER_H_
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#define COREWRAPPER_H_
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#include <ros/ros.h>
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#include <std_srvs/Empty.h>
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#include <tf/transform_listener.h>
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#include <tf2_ros/transform_broadcaster.h>
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#include <std_msgs/Empty.h>
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#include <std_msgs/Int32.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <sensor_msgs/LaserScan.h>
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#include <nav_msgs/Odometry.h>
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#include <nav_msgs/GetMap.h>
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#include <rtabmap/core/Parameters.h>
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#include <rtabmap/core/Rtabmap.h>
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#include "rtabmap_ros/GetMap.h"
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#include "rtabmap_ros/ListLabels.h"
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#include "rtabmap_ros/PublishMap.h"
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#include "rtabmap_ros/SetGoal.h"
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#include "rtabmap_ros/SetLabel.h"
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#include "rtabmap_ros/Goal.h"
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#include "MapsManager.h"
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#include <message_filters/subscriber.h>
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#include <message_filters/synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/sync_policies/exact_time.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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#ifdef WITH_OCTOMAP_ROS
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#include <octomap_msgs/GetOctomap.h>
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#endif
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#include <actionlib/client/simple_action_client.h>
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#include <move_base_msgs/MoveBaseAction.h>
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#include <move_base_msgs/MoveBaseActionGoal.h>
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#include <move_base_msgs/MoveBaseActionResult.h>
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#include <move_base_msgs/MoveBaseActionFeedback.h>
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#include <actionlib_msgs/GoalStatusArray.h>
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typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
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class CoreWrapper
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{
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public:
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CoreWrapper(bool deleteDbOnStart, const rtabmap::ParametersMap & parameters);
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virtual ~CoreWrapper();
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private:
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void setupCallbacks(
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bool subscribeDepth,
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bool subscribeScan2d,
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bool subscribeScan3d,
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bool subscribeStereo,
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int queueSize,
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bool approxSync,
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int depthCameras);
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void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
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bool commonOdomUpdate(const nav_msgs::OdometryConstPtr & odomMsg);
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bool commonOdomTFUpdate(const ros::Time & stamp); // TF odom
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rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
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void commonDepthCallback(
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const std::string & odomFrameId,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg);
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void commonDepthCallback(
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const std::string & odomFrameId,
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const std::vector<sensor_msgs::ImageConstPtr> & imageMsgs,
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const std::vector<sensor_msgs::ImageConstPtr> & depthMsgs,
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const std::vector<sensor_msgs::CameraInfoConstPtr> & cameraInfoMsgs,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg);
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void commonStereoCallback(
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const std::string & odomFrameId,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const sensor_msgs::PointCloud2ConstPtr& scan3dMsg);
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// with odom msg
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void depthCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depthScanCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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void depthScan3dCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg);
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void stereoCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const nav_msgs::OdometryConstPtr & odomMsg);
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void stereoScanCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg);
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void stereoScan3dCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg);
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void depth2Callback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& image1Msg,
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const sensor_msgs::ImageConstPtr& imageDepth1Msg,
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const sensor_msgs::CameraInfoConstPtr& camInfo1Msg,
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const sensor_msgs::ImageConstPtr& image2Msg,
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const sensor_msgs::ImageConstPtr& imageDept2hMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfo2Msg);
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// without odom, when TF is used for odom
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void depthTFCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depthScanTFCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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void depthScan3dTFCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg);
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void stereoTFCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg);
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void stereoScanTFCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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void stereoScan3dTFCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::PointCloud2ConstPtr& scanMsg);
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void goalCommonCallback(int id, const std::string & label, const rtabmap::Transform & pose, const ros::Time & stamp, double * planningTime = 0);
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void goalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
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void goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg);
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void updateGoal(const ros::Time & stamp);
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void process(
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const ros::Time & stamp,
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const rtabmap::SensorData & data,
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const rtabmap::Transform & odom = rtabmap::Transform(),
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const std::string & odomFrameId = "",
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float odomRotationalVariance = 1.0,
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float odomTransitionalVariance = 1.0);
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bool updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool resumeRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
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bool getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
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bool getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
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bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
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bool setGoalCallback(rtabmap_ros::SetGoal::Request& req, rtabmap_ros::SetGoal::Response& res);
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bool cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
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bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
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bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
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#ifdef WITH_OCTOMAP_ROS
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bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
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bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
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#endif
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rtabmap::ParametersMap loadParameters(const std::string & configFile);
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void saveParameters(const std::string & configFile);
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void publishLoop(double tfDelay, double tfTolerance);
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void publishStats(const ros::Time & stamp);
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void publishCurrentGoal(const ros::Time & stamp);
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void goalDoneCb(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result);
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void goalActiveCb();
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void goalFeedbackCb(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
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void publishLocalPath(const ros::Time & stamp);
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void publishGlobalPath(const ros::Time & stamp);
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private:
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rtabmap::Rtabmap rtabmap_;
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bool paused_;
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rtabmap::Transform lastPose_;
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ros::Time lastPoseStamp_;
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bool lastPoseIntermediate_;
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float rotVariance_;
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float transVariance_;
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rtabmap::Transform currentMetricGoal_;
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bool latestNodeWasReached_;
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rtabmap::ParametersMap parameters_;
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std::string frameId_;
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std::string mapFrameId_;
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std::string odomFrameId_;
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std::string groundTruthFrameId_;
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std::string configPath_;
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std::string databasePath_;
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bool waitForTransform_;
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double waitForTransformDuration_;
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bool useActionForGoal_;
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bool genScan_;
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double genScanMaxDepth_;
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double genScanMinDepth_;
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int scanCloudMaxPoints_;
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int scanCloudNormalK_;
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bool flipScan_;
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rtabmap::Transform mapToOdom_;
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boost::mutex mapToOdomMutex_;
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MapsManager mapsManager_;
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ros::Publisher infoPub_;
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ros::Publisher mapDataPub_;
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ros::Publisher mapGraphPub_;
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ros::Publisher labelsPub_;
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//Planning stuff
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ros::Subscriber goalSub_;
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ros::Subscriber goalNodeSub_;
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ros::Publisher nextMetricGoalPub_;
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ros::Publisher goalReachedPub_;
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ros::Publisher globalPathPub_;
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ros::Publisher localPathPub_;
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// for loop closure detection only
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image_transport::Subscriber defaultSub_;
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//for depth callback
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std::vector<image_transport::SubscriberFilter*> imageSubs_;
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std::vector<image_transport::SubscriberFilter*> imageDepthSubs_;
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std::vector<message_filters::Subscriber<sensor_msgs::CameraInfo>*> cameraInfoSubs_;
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//stereo callback
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image_transport::SubscriberFilter imageRectLeft_;
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image_transport::SubscriberFilter imageRectRight_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
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message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
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message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
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message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::LaserScan> MyDepthScanSyncPolicy;
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||||
message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
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||||
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||||
typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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||||
nav_msgs::Odometry,
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sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
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||||
sensor_msgs::PointCloud2> MyDepthScan3dSyncPolicy;
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||||
message_filters::Synchronizer<MyDepthScan3dSyncPolicy> * depthScan3dSync_;
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||||
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||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
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||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
|
||||
typedef message_filters::sync_policies::ExactTime<
|
||||
sensor_msgs::Image,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthExactSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthExactSyncPolicy> * depthExactSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::LaserScan,
|
||||
nav_msgs::Odometry> MyStereoScanSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry> MyStereoScan3dSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScan3dSyncPolicy> * stereoScan3dSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo,
|
||||
nav_msgs::Odometry> MyStereoApproxSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoApproxSyncPolicy> * stereoApproxSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo,
|
||||
nav_msgs::Odometry> MyStereoExactSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoExactSyncPolicy> * stereoExactSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepth2SyncPolicy;
|
||||
message_filters::Synchronizer<MyDepth2SyncPolicy> * depth2Sync_;
|
||||
|
||||
// without odom, when TF is used for odom
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::LaserScan> MyDepthScanTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScanTFSyncPolicy> * depthScanTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::PointCloud2> MyDepthScan3dTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScan3dTFSyncPolicy> * depthScan3dTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthTFSyncPolicy> * depthTFSync_;
|
||||
typedef message_filters::sync_policies::ExactTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthTFExactSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthTFExactSyncPolicy> * depthTFExactSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::LaserScan> MyStereoScanTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScanTFSyncPolicy> * stereoScanTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::PointCloud2> MyStereoScan3dTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScan3dTFSyncPolicy> * stereoScan3dTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoApproxTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoApproxTFSyncPolicy> * stereoApproxTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoExactTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoExactTFSyncPolicy> * stereoExactTFSync_;
|
||||
|
||||
tf2_ros::TransformBroadcaster tfBroadcaster_;
|
||||
tf::TransformListener tfListener_;
|
||||
|
||||
ros::ServiceServer updateSrv_;
|
||||
ros::ServiceServer resetSrv_;
|
||||
ros::ServiceServer pauseSrv_;
|
||||
ros::ServiceServer resumeSrv_;
|
||||
ros::ServiceServer triggerNewMapSrv_;
|
||||
ros::ServiceServer backupDatabase_;
|
||||
ros::ServiceServer setModeLocalizationSrv_;
|
||||
ros::ServiceServer setModeMappingSrv_;
|
||||
ros::ServiceServer setLogDebugSrv_;
|
||||
ros::ServiceServer setLogInfoSrv_;
|
||||
ros::ServiceServer setLogWarnSrv_;
|
||||
ros::ServiceServer setLogErrorSrv_;
|
||||
ros::ServiceServer getMapDataSrv_;
|
||||
ros::ServiceServer getProjMapSrv_;
|
||||
ros::ServiceServer getGridMapSrv_;
|
||||
ros::ServiceServer publishMapDataSrv_;
|
||||
ros::ServiceServer setGoalSrv_;
|
||||
ros::ServiceServer cancelGoalSrv_;
|
||||
ros::ServiceServer setLabelSrv_;
|
||||
ros::ServiceServer listLabelsSrv_;
|
||||
#ifdef WITH_OCTOMAP_ROS
|
||||
ros::ServiceServer octomapBinarySrv_;
|
||||
ros::ServiceServer octomapFullSrv_;
|
||||
#endif
|
||||
|
||||
MoveBaseClient mbClient_;
|
||||
|
||||
boost::thread* transformThread_;
|
||||
|
||||
float rate_;
|
||||
bool createIntermediateNodes_;
|
||||
ros::Time time_;
|
||||
ros::Time previousStamp_;
|
||||
};
|
||||
|
||||
#endif /* COREWRAPPER_H_ */
|
||||
|
||||
@@ -0,0 +1,492 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef GUIWRAPPER_H_
|
||||
#define GUIWRAPPER_H_
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include "rtabmap_ros/Info.h"
|
||||
#include "rtabmap_ros/MapData.h"
|
||||
#include "rtabmap_ros/OdomInfo.h"
|
||||
#include "rtabmap_ros/Goal.h"
|
||||
#include "rtabmap/utilite/UEventsHandler.h"
|
||||
#include "rtabmap/core/Transform.h"
|
||||
|
||||
#include <tf/transform_listener.h>
|
||||
|
||||
#include <geometry_msgs/TwistStamped.h>
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
#include <sensor_msgs/Image.h>
|
||||
#include <sensor_msgs/CameraInfo.h>
|
||||
#include <sensor_msgs/LaserScan.h>
|
||||
#include <nav_msgs/Odometry.h>
|
||||
#include <nav_msgs/Path.h>
|
||||
#include <std_msgs/Bool.h>
|
||||
|
||||
#include <message_filters/subscriber.h>
|
||||
#include <message_filters/synchronizer.h>
|
||||
#include <message_filters/sync_policies/approximate_time.h>
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <image_transport/subscriber_filter.h>
|
||||
|
||||
namespace rtabmap
|
||||
{
|
||||
class MainWindow;
|
||||
}
|
||||
|
||||
class QApplication;
|
||||
|
||||
class GuiWrapper : public UEventsHandler
|
||||
{
|
||||
public:
|
||||
GuiWrapper(int & argc, char** argv);
|
||||
virtual ~GuiWrapper();
|
||||
|
||||
protected:
|
||||
virtual void handleEvent(UEvent * anEvent);
|
||||
|
||||
private:
|
||||
void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
|
||||
void goalPathCallback(const rtabmap_ros::GoalConstPtr & goalMsg, const nav_msgs::PathConstPtr & pathMsg);
|
||||
void goalReachedCallback(const std_msgs::BoolConstPtr & value);
|
||||
|
||||
void setupCallbacks(
|
||||
bool subscribeDepth,
|
||||
bool subscribeLaserScan2d,
|
||||
bool subscribeLaserScan3d,
|
||||
bool subscribeOdomInfo,
|
||||
bool subscribeStereo,
|
||||
int queueSize,
|
||||
int depthCameras);
|
||||
|
||||
void commonDepthCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
void commonDepthCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const std::vector<sensor_msgs::ImageConstPtr> & imageMsgs,
|
||||
const std::vector<sensor_msgs::ImageConstPtr> & depthMsgs,
|
||||
const std::vector<sensor_msgs::CameraInfoConstPtr> & cameraInfoMsgs,
|
||||
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
void commonStereoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
||||
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
||||
|
||||
void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg);
|
||||
|
||||
// With odom msg
|
||||
void depthCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
void depth2Callback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& image1Msg,
|
||||
const sensor_msgs::ImageConstPtr& depth1Msg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfo1Msg,
|
||||
const sensor_msgs::ImageConstPtr& image2Msg,
|
||||
const sensor_msgs::ImageConstPtr& depth2Msg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfo2Msg);
|
||||
void depthOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
|
||||
void depthOdomInfo2Callback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& image1Msg,
|
||||
const sensor_msgs::ImageConstPtr& depth1Msg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfo1Msg,
|
||||
const sensor_msgs::ImageConstPtr& image2Msg,
|
||||
const sensor_msgs::ImageConstPtr& depth2Msg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfo2Msg);
|
||||
void depthScanCallback(
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
void depthScanOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
void depthScan3dCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
void depthScan3dOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
|
||||
void stereoScanCallback(
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoScanOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoScan3dCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoScan3dOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoOdomInfoCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
|
||||
// with TF
|
||||
void depthTFCallback(const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
|
||||
void depthOdomInfoTFCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& depthMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
|
||||
void depthScanTFCallback(
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs:: CameraInfoConstPtr& camInfoMsg);
|
||||
void depthScan3dTFCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageMsg,
|
||||
const sensor_msgs::ImageConstPtr& imageDepthMsg,
|
||||
const sensor_msgs:: CameraInfoConstPtr& camInfoMsg);
|
||||
|
||||
void stereoScanTFCallback(
|
||||
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoScan3dTFCallback(
|
||||
const sensor_msgs::PointCloud2ConstPtr& scanMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoOdomInfoTFCallback(
|
||||
const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
void stereoTFCallback(
|
||||
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
||||
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
|
||||
|
||||
void processRequestedMap(const rtabmap_ros::MapData & map);
|
||||
rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
|
||||
|
||||
private:
|
||||
rtabmap::MainWindow * mainWindow_;
|
||||
std::string cameraNodeName_;
|
||||
double lastOdomInfoUpdateTime_;
|
||||
|
||||
// odometry subscription stuffs
|
||||
std::string frameId_;
|
||||
std::string odomFrameId_;
|
||||
bool waitForTransform_;
|
||||
double waitForTransformDuration_;
|
||||
tf::TransformListener tfListener_;
|
||||
|
||||
message_filters::Subscriber<rtabmap_ros::Info> infoTopic_;
|
||||
message_filters::Subscriber<rtabmap_ros::MapData> mapDataTopic_;
|
||||
|
||||
message_filters::Subscriber<rtabmap_ros::Goal> goalTopic_;
|
||||
message_filters::Subscriber<nav_msgs::Path> pathTopic_;
|
||||
ros::Subscriber goalReachedTopic_;
|
||||
|
||||
ros::Subscriber defaultSub_; // odometry only
|
||||
std::vector<image_transport::SubscriberFilter*> imageSubs_;
|
||||
std::vector<image_transport::SubscriberFilter*> imageDepthSubs_;
|
||||
std::vector<message_filters::Subscriber<sensor_msgs::CameraInfo>* > cameraInfoSubs_;
|
||||
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
|
||||
message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
|
||||
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
|
||||
|
||||
image_transport::SubscriberFilter imageRectLeft_;
|
||||
image_transport::SubscriberFilter imageRectRight_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<
|
||||
rtabmap_ros::Info,
|
||||
rtabmap_ros::MapData> MyInfoMapSyncPolicy;
|
||||
message_filters::Synchronizer<MyInfoMapSyncPolicy> * infoMapSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ExactTime<
|
||||
rtabmap_ros::Goal,
|
||||
nav_msgs::Path> MyGoalPathSyncPolicy;
|
||||
message_filters::Synchronizer<MyGoalPathSyncPolicy> * goalPathSync_;
|
||||
|
||||
// with odom msg
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::LaserScan,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthScanSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::LaserScan,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthScanOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScanOdomInfoSyncPolicy> * depthScanOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthScan3dSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScan3dSyncPolicy> * depthScan3dSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthScan3dOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScan3dOdomInfoSyncPolicy> * depthScan3dOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthOdomInfoSyncPolicy> * depthOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoSyncPolicy> * stereoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::LaserScan,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoScanSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::LaserScan,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoScanOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScanOdomInfoSyncPolicy> * stereoScanOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoScan3dSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScan3dSyncPolicy> * stereoScan3dSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::PointCloud2,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoScan3dOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScan3dOdomInfoSyncPolicy> * stereoScan3dOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoOdomInfoSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoOdomInfoSyncPolicy> * stereoOdomInfoSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepth2SyncPolicy;
|
||||
message_filters::Synchronizer<MyDepth2SyncPolicy> * depth2Sync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
nav_msgs::Odometry,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthOdomInfo2SyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthOdomInfo2SyncPolicy> * depthOdomInfo2Sync_;
|
||||
|
||||
// with odom TF
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::LaserScan,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthScanTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScanTFSyncPolicy> * depthScanTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::PointCloud2,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthScan3dTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthScan3dTFSyncPolicy> * depthScan3dTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthTFSyncPolicy> * depthTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo> MyDepthOdomInfoTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyDepthOdomInfoTFSyncPolicy> * depthOdomInfoTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoTFSyncPolicy> * stereoTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::LaserScan,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoScanTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScanTFSyncPolicy> * stereoScanTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
sensor_msgs::PointCloud2,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoScan3dTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoScan3dTFSyncPolicy> * stereoScan3dTFSync_;
|
||||
|
||||
typedef message_filters::sync_policies::ApproximateTime<
|
||||
rtabmap_ros::OdomInfo,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::Image,
|
||||
sensor_msgs::CameraInfo,
|
||||
sensor_msgs::CameraInfo> MyStereoOdomInfoTFSyncPolicy;
|
||||
message_filters::Synchronizer<MyStereoOdomInfoTFSyncPolicy> * stereoOdomInfoTFSync_;
|
||||
};
|
||||
|
||||
#endif /* GUIWRAPPER_H_ */
|
||||
@@ -0,0 +1,134 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef MAPSMANAGER_H_
|
||||
#define MAPSMANAGER_H_
|
||||
|
||||
#include <rtabmap/core/Signature.h>
|
||||
#include <pcl/point_cloud.h>
|
||||
#include <pcl/point_types.h>
|
||||
#include <ros/time.h>
|
||||
#include <ros/publisher.h>
|
||||
|
||||
namespace rtabmap {
|
||||
class OctoMap;
|
||||
class Memory;
|
||||
|
||||
} // namespace rtabmap
|
||||
|
||||
class MapsManager {
|
||||
public:
|
||||
MapsManager(bool usePublicNamespace);
|
||||
virtual ~MapsManager();
|
||||
void clear();
|
||||
bool hasSubscribers() const;
|
||||
|
||||
std::map<int, rtabmap::Transform> getFilteredPoses(
|
||||
const std::map<int, rtabmap::Transform> & poses);
|
||||
|
||||
std::map<int, rtabmap::Transform> updateMapCaches(
|
||||
const std::map<int, rtabmap::Transform> & poses,
|
||||
const rtabmap::Memory * memory,
|
||||
bool updateCloud,
|
||||
bool updateProj,
|
||||
bool updateGrid,
|
||||
bool updateScan,
|
||||
bool updateOctomap,
|
||||
const std::map<int, rtabmap::Signature> & signatures = std::map<int, rtabmap::Signature>());
|
||||
|
||||
void publishMaps(
|
||||
const std::map<int, rtabmap::Transform> & poses,
|
||||
const ros::Time & stamp,
|
||||
const std::string & mapFrameId);
|
||||
|
||||
cv::Mat generateProjMap(
|
||||
const std::map<int, rtabmap::Transform> & filteredPoses,
|
||||
float & xMin,
|
||||
float & yMin,
|
||||
float & gridCellSize);
|
||||
|
||||
cv::Mat generateGridMap(
|
||||
const std::map<int, rtabmap::Transform> & filteredPoses,
|
||||
float & xMin,
|
||||
float & yMin,
|
||||
float & gridCellSize);
|
||||
|
||||
rtabmap::OctoMap * getOctomap() const {return octomap_;}
|
||||
|
||||
private:
|
||||
// mapping stuff
|
||||
int cloudDecimation_;
|
||||
double cloudMaxDepth_;
|
||||
double cloudMinDepth_;
|
||||
double cloudVoxelSize_;
|
||||
double cloudFloorCullingHeight_;
|
||||
double cloudCeilingCullingHeight_;
|
||||
bool cloudOutputVoxelized_;
|
||||
bool cloudFrustumCulling_;
|
||||
double cloudNoiseFilteringRadius_;
|
||||
int cloudNoiseFilteringMinNeighbors_;
|
||||
int scanDecimation_;
|
||||
double scanVoxelSize_;
|
||||
bool scanOutputVoxelized_;
|
||||
double projMaxGroundAngle_;
|
||||
int projMinClusterSize_;
|
||||
double projMaxObstaclesHeight_;
|
||||
double projMaxGroundHeight_;
|
||||
bool projDetectFlatObstacles_;
|
||||
bool projMapFrame_;
|
||||
double gridCellSize_;
|
||||
double gridSize_;
|
||||
bool gridEroded_;
|
||||
bool gridUnknownSpaceFilled_;
|
||||
double gridMaxUnknownSpaceFilledRange_;
|
||||
double mapFilterRadius_;
|
||||
double mapFilterAngle_;
|
||||
bool mapCacheCleanup_;
|
||||
bool negativePosesIgnored_;
|
||||
|
||||
ros::Publisher cloudMapPub_;
|
||||
ros::Publisher projMapPub_;
|
||||
ros::Publisher gridMapPub_;
|
||||
ros::Publisher scanMapPub_;
|
||||
ros::Publisher octoMapPubBin_;
|
||||
ros::Publisher octoMapPubFull_;
|
||||
ros::Publisher octoMapCloud_;
|
||||
ros::Publisher octoMapEmptySpace_;
|
||||
ros::Publisher octoMapProj_;
|
||||
|
||||
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
|
||||
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > scans_;
|
||||
std::map<int, std::vector<rtabmap::CameraModel> > cameraModels_;
|
||||
std::map<int, std::pair<cv::Mat, cv::Mat> > projMaps_; // <ground, obstacles>
|
||||
std::map<int, std::pair<cv::Mat, cv::Mat> > gridMaps_; // <ground, obstacles>
|
||||
|
||||
rtabmap::OctoMap * octomap_;
|
||||
int octomapTreeDepth_;
|
||||
bool octomapGroundIsObstacle_;
|
||||
};
|
||||
|
||||
#endif /* MAPSMANAGER_H_ */
|
||||
@@ -0,0 +1,120 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef ODOMETRYROS_H_
|
||||
#define ODOMETRYROS_H_
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <nodelet/nodelet.h>
|
||||
|
||||
#include <tf2_ros/transform_broadcaster.h>
|
||||
#include <tf/transform_listener.h>
|
||||
|
||||
#include <std_srvs/Empty.h>
|
||||
#include <std_msgs/Header.h>
|
||||
|
||||
#include <rtabmap_ros/ResetPose.h>
|
||||
#include <rtabmap/core/SensorData.h>
|
||||
#include <rtabmap/core/Parameters.h>
|
||||
|
||||
namespace rtabmap {
|
||||
class Odometry;
|
||||
}
|
||||
|
||||
namespace rtabmap_ros {
|
||||
|
||||
class OdometryROS : public nodelet::Nodelet
|
||||
{
|
||||
|
||||
public:
|
||||
OdometryROS(bool stereo);
|
||||
virtual ~OdometryROS();
|
||||
|
||||
void processData(const rtabmap::SensorData & data, const ros::Time & stamp);
|
||||
|
||||
bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
||||
bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
|
||||
bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
||||
bool resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
||||
bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
||||
bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
||||
bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
||||
bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
||||
|
||||
const std::string & frameId() const {return frameId_;}
|
||||
const std::string & odomFrameId() const {return odomFrameId_;}
|
||||
const rtabmap::ParametersMap & parameters() const {return parameters_;}
|
||||
const tf::TransformListener & tfListener() const {return tfListener_;}
|
||||
bool isPaused() const {return paused_;}
|
||||
bool isOdometryF2M() const;
|
||||
rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
|
||||
|
||||
protected:
|
||||
virtual void flushCallbacks() = 0;
|
||||
|
||||
private:
|
||||
virtual void onInit();
|
||||
virtual void onOdomInit() = 0;
|
||||
|
||||
private:
|
||||
rtabmap::Odometry * odometry_;
|
||||
|
||||
// parameters
|
||||
std::string frameId_;
|
||||
std::string odomFrameId_;
|
||||
std::string groundTruthFrameId_;
|
||||
bool publishTf_;
|
||||
bool waitForTransform_;
|
||||
double waitForTransformDuration_;
|
||||
bool publishNullWhenLost_;
|
||||
bool guessFromTf_;
|
||||
rtabmap::ParametersMap parameters_;
|
||||
|
||||
ros::Publisher odomPub_;
|
||||
ros::Publisher odomInfoPub_;
|
||||
ros::Publisher odomLocalMap_;
|
||||
ros::Publisher odomLastFrame_;
|
||||
ros::ServiceServer resetSrv_;
|
||||
ros::ServiceServer resetToPoseSrv_;
|
||||
ros::ServiceServer pauseSrv_;
|
||||
ros::ServiceServer resumeSrv_;
|
||||
ros::ServiceServer setLogDebugSrv_;
|
||||
ros::ServiceServer setLogInfoSrv_;
|
||||
ros::ServiceServer setLogWarnSrv_;
|
||||
ros::ServiceServer setLogErrorSrv_;
|
||||
tf2_ros::TransformBroadcaster tfBroadcaster_;
|
||||
tf::TransformListener tfListener_;
|
||||
|
||||
bool paused_;
|
||||
int resetCountdown_;
|
||||
int resetCurrentCount_;
|
||||
bool stereo_;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,57 @@
|
||||
/*
|
||||
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef PREFERENCESDIALOGROS_H_
|
||||
#define PREFERENCESDIALOGROS_H_
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <rtabmap/gui/PreferencesDialog.h>
|
||||
|
||||
using namespace rtabmap;
|
||||
|
||||
class PreferencesDialogROS : public PreferencesDialog
|
||||
{
|
||||
public:
|
||||
PreferencesDialogROS(const QString & configFile);
|
||||
virtual ~PreferencesDialogROS();
|
||||
|
||||
virtual QString getIniFilePath() const;
|
||||
virtual QString getTmpIniFilePath() const;
|
||||
|
||||
protected:
|
||||
virtual QString getParamMessage();
|
||||
|
||||
virtual void readCameraSettings(const QString & filePath);
|
||||
virtual bool readCoreSettings(const QString & filePath);
|
||||
virtual void writeCameraSettings(const QString & filePath) const {}
|
||||
virtual void writeCoreSettings(const QString & filePath) const;
|
||||
|
||||
private:
|
||||
QString configFile_;
|
||||
};
|
||||
|
||||
#endif /* PREFERENCESDIALOGROS_H_ */
|
||||
Reference in New Issue
Block a user