moved all the header file into include

src/CoreNode.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "CoreWrapper.h"
+#include "rtabmap_ros/CoreWrapper.h"
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UDirectory.h>
 #include <rtabmap/utilite/UStl.h>

src/CoreWrapper.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "CoreWrapper.h"
+#include "rtabmap_ros/CoreWrapper.h"
 
 #include <stdio.h>
 #include <ros/ros.h>

src/CoreWrapper.h

@@ -1,487 +0,0 @@
-/*
-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 COREWRAPPER_H_
-#define COREWRAPPER_H_
-
-
-#include <ros/ros.h>
-
-#include <std_srvs/Empty.h>
-
-#include <tf/transform_listener.h>
-#include <tf2_ros/transform_broadcaster.h>
-
-#include <std_msgs/Empty.h>
-#include <std_msgs/Int32.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/GetMap.h>
-
-#include <rtabmap/core/Parameters.h>
-#include <rtabmap/core/Rtabmap.h>
-
-#include "rtabmap_ros/GetMap.h"
-#include "rtabmap_ros/ListLabels.h"
-#include "rtabmap_ros/PublishMap.h"
-#include "rtabmap_ros/SetGoal.h"
-#include "rtabmap_ros/SetLabel.h"
-#include "rtabmap_ros/Goal.h"
-
-#include "MapsManager.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>
-
-#ifdef WITH_OCTOMAP_ROS
-#include <octomap_msgs/GetOctomap.h>
-#endif
-
-#include <actionlib/client/simple_action_client.h>
-#include <move_base_msgs/MoveBaseAction.h>
-#include <move_base_msgs/MoveBaseActionGoal.h>
-#include <move_base_msgs/MoveBaseActionResult.h>
-#include <move_base_msgs/MoveBaseActionFeedback.h>
-#include <actionlib_msgs/GoalStatusArray.h>
-typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
-
-class CoreWrapper
-{
-public:
-	CoreWrapper(bool deleteDbOnStart, const rtabmap::ParametersMap & parameters);
-	virtual ~CoreWrapper();
-
-private:
-	void setupCallbacks(
-			bool subscribeDepth,
-			bool subscribeScan2d,
-			bool subscribeScan3d,
-			bool subscribeStereo,
-			int queueSize,
-			bool approxSync,
-			int depthCameras);
-	void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
-
-	bool commonOdomUpdate(const nav_msgs::OdometryConstPtr & odomMsg);
-	bool commonOdomTFUpdate(const ros::Time & stamp); // TF odom
-	rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
-
-	void commonDepthCallback(
-				const std::string & odomFrameId,
-				const sensor_msgs::ImageConstPtr& imageMsg,
-				const sensor_msgs::ImageConstPtr& depthMsg,
-				const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
-				const sensor_msgs::LaserScanConstPtr& scanMsg,
-				const sensor_msgs::PointCloud2ConstPtr& scan3dMsg);
-	void commonDepthCallback(
-				const std::string & odomFrameId,
-				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& scanMsg,
-				const sensor_msgs::PointCloud2ConstPtr& scan3dMsg);
-	void commonStereoCallback(
-				const std::string & odomFrameId,
-				const sensor_msgs::ImageConstPtr& leftImageMsg,
-				const sensor_msgs::ImageConstPtr& rightImageMsg,
-				const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
-				const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
-				const sensor_msgs::LaserScanConstPtr& scanMsg,
-				const sensor_msgs::PointCloud2ConstPtr& scan3dMsg);
-
-	// with odom msg
-	void depthCallback(
-			const sensor_msgs::ImageConstPtr& imageMsg,
-			const nav_msgs::OdometryConstPtr & odomMsg,
-			const sensor_msgs::ImageConstPtr& imageDepthMsg,
-			const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
-	void depthScanCallback(
-			const sensor_msgs::ImageConstPtr& imageMsg,
-			const nav_msgs::OdometryConstPtr & odomMsg,
-			const sensor_msgs::ImageConstPtr& imageDepthMsg,
-			const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
-			const sensor_msgs::LaserScanConstPtr& scanMsg);
-	void depthScan3dCallback(
-			const sensor_msgs::ImageConstPtr& imageMsg,
-			const nav_msgs::OdometryConstPtr & odomMsg,
-			const sensor_msgs::ImageConstPtr& imageDepthMsg,
-			const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
-			const sensor_msgs::PointCloud2ConstPtr& scanMsg);
-	void stereoCallback(
-			const sensor_msgs::ImageConstPtr& leftImageMsg,
-			const sensor_msgs::ImageConstPtr& rightImageMsg,
-			const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
-			const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
-			const nav_msgs::OdometryConstPtr & odomMsg);
-	void stereoScanCallback(
-			const sensor_msgs::ImageConstPtr& leftImageMsg,
-			const sensor_msgs::ImageConstPtr& rightImageMsg,
-			const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
-			const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
-			const sensor_msgs::LaserScanConstPtr& scanMsg,
-			const nav_msgs::OdometryConstPtr & odomMsg);
-	void stereoScan3dCallback(
-			const sensor_msgs::ImageConstPtr& leftImageMsg,
-			const sensor_msgs::ImageConstPtr& rightImageMsg,
-			const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
-			const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
-			const sensor_msgs::PointCloud2ConstPtr& scanMsg,
-			const nav_msgs::OdometryConstPtr & odomMsg);
-	void depth2Callback(
-			const nav_msgs::OdometryConstPtr & odomMsg,
-			const sensor_msgs::ImageConstPtr& image1Msg,
-			const sensor_msgs::ImageConstPtr& imageDepth1Msg,
-			const sensor_msgs::CameraInfoConstPtr& camInfo1Msg,
-			const sensor_msgs::ImageConstPtr& image2Msg,
-			const sensor_msgs::ImageConstPtr& imageDept2hMsg,
-			const sensor_msgs::CameraInfoConstPtr& camInfo2Msg);
-
-	// without odom, when TF is used for odom
-	void depthTFCallback(
-			const sensor_msgs::ImageConstPtr& imageMsg,
-			const sensor_msgs::ImageConstPtr& imageDepthMsg,
-			const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
-	void depthScanTFCallback(
-			const sensor_msgs::ImageConstPtr& imageMsg,
-			const sensor_msgs::ImageConstPtr& imageDepthMsg,
-			const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
-			const sensor_msgs::LaserScanConstPtr& scanMsg);
-	void depthScan3dTFCallback(
-			const sensor_msgs::ImageConstPtr& imageMsg,
-			const sensor_msgs::ImageConstPtr& imageDepthMsg,
-			const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
-			const sensor_msgs::PointCloud2ConstPtr& scanMsg);
-	void stereoTFCallback(
-			const sensor_msgs::ImageConstPtr& leftImageMsg,
-			const sensor_msgs::ImageConstPtr& rightImageMsg,
-			const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
-			const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg);
-	void stereoScanTFCallback(
-			const sensor_msgs::ImageConstPtr& leftImageMsg,
-			const sensor_msgs::ImageConstPtr& rightImageMsg,
-			const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
-			const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
-			const sensor_msgs::LaserScanConstPtr& scanMsg);
-	void stereoScan3dTFCallback(
-			const sensor_msgs::ImageConstPtr& leftImageMsg,
-			const sensor_msgs::ImageConstPtr& rightImageMsg,
-			const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
-			const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
-			const sensor_msgs::PointCloud2ConstPtr& scanMsg);
-
-	void goalCommonCallback(int id, const std::string & label, const rtabmap::Transform & pose, const ros::Time & stamp, double * planningTime = 0);
-	void goalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
-	void goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg);
-	void updateGoal(const ros::Time & stamp);
-
-	void process(
-			const ros::Time & stamp,
-			const rtabmap::SensorData & data,
-			const rtabmap::Transform & odom = rtabmap::Transform(),
-			const std::string & odomFrameId = "",
-			float odomRotationalVariance = 1.0,
-			float odomTransitionalVariance = 1.0);
-
-	bool updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool resumeRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
-	bool setModeMappingCallback(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&);
-	bool getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
-	bool getProjMapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::GetMap::Response &res);
-	bool getGridMapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::GetMap::Response &res);
-	bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
-	bool setGoalCallback(rtabmap_ros::SetGoal::Request& req, rtabmap_ros::SetGoal::Response& res);
-	bool cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
-	bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
-	bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
-#ifdef WITH_OCTOMAP_ROS
-	bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request  &req, octomap_msgs::GetOctomap::Response &res);
-	bool octomapFullCallback(octomap_msgs::GetOctomap::Request  &req, octomap_msgs::GetOctomap::Response &res);
-#endif
-
-	rtabmap::ParametersMap loadParameters(const std::string & configFile);
-	void saveParameters(const std::string & configFile);
-
-	void publishLoop(double tfDelay, double tfTolerance);
-
-	void publishStats(const ros::Time & stamp);
-	void publishCurrentGoal(const ros::Time & stamp);
-	void goalDoneCb(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result);
-	void goalActiveCb();
-	void goalFeedbackCb(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
-	void publishLocalPath(const ros::Time & stamp);
-	void publishGlobalPath(const ros::Time & stamp);
-
-private:
-	rtabmap::Rtabmap rtabmap_;
-	bool paused_;
-	rtabmap::Transform lastPose_;
-	ros::Time lastPoseStamp_;
-	bool lastPoseIntermediate_;
-	float rotVariance_;
-	float transVariance_;
-	rtabmap::Transform currentMetricGoal_;
-	bool latestNodeWasReached_;
-	rtabmap::ParametersMap parameters_;
-
-	std::string frameId_;
-	std::string mapFrameId_;
-	std::string odomFrameId_;
-	std::string groundTruthFrameId_;
-	std::string configPath_;
-	std::string databasePath_;
-	bool waitForTransform_;
-	double waitForTransformDuration_;
-	bool useActionForGoal_;
-	bool genScan_;
-	double genScanMaxDepth_;
-	double genScanMinDepth_;
-	int scanCloudMaxPoints_;
-	int scanCloudNormalK_;
-	bool flipScan_;
-
-	rtabmap::Transform mapToOdom_;
-	boost::mutex mapToOdomMutex_;
-
-	MapsManager mapsManager_;
-
-	ros::Publisher infoPub_;
-	ros::Publisher mapDataPub_;
-	ros::Publisher mapGraphPub_;
-	ros::Publisher labelsPub_;
-
-	//Planning stuff
-	ros::Subscriber goalSub_;
-	ros::Subscriber goalNodeSub_;
-	ros::Publisher nextMetricGoalPub_;
-	ros::Publisher goalReachedPub_;
-	ros::Publisher globalPathPub_;
-	ros::Publisher localPathPub_;
-
-	// for loop closure detection only
-	image_transport::Subscriber defaultSub_;
-
-	//for depth callback
-	std::vector<image_transport::SubscriberFilter*> imageSubs_;
-	std::vector<image_transport::SubscriberFilter*> imageDepthSubs_;
-	std::vector<message_filters::Subscriber<sensor_msgs::CameraInfo>*> cameraInfoSubs_;
-
-	//stereo callback
-	image_transport::SubscriberFilter imageRectLeft_;
-	image_transport::SubscriberFilter imageRectRight_;
-	message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
-	message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
-
-	message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
-	message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
-	message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
-
-	typedef message_filters::sync_policies::ApproximateTime<
-			sensor_msgs::Image,
-			nav_msgs::Odometry,
-			sensor_msgs::Image,
-			sensor_msgs::CameraInfo,
-			sensor_msgs::LaserScan> MyDepthScanSyncPolicy;
-	message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
-
-	typedef message_filters::sync_policies::ApproximateTime<
-			sensor_msgs::Image,
-			nav_msgs::Odometry,
-			sensor_msgs::Image,
-			sensor_msgs::CameraInfo,
-			sensor_msgs::PointCloud2> MyDepthScan3dSyncPolicy;
-	message_filters::Synchronizer<MyDepthScan3dSyncPolicy> * depthScan3dSync_;
-
-	typedef message_filters::sync_policies::ApproximateTime<
-			sensor_msgs::Image,
-			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_ */
-

src/GuiNode.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "GuiWrapper.h"
+#include "rtabmap_ros/GuiWrapper.h"
 #include "rtabmap/utilite/ULogger.h"
 
 #include <QApplication>

src/GuiWrapper.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "GuiWrapper.h"
+#include "rtabmap_ros/GuiWrapper.h"
 #include <QApplication>
 #include <QDir>
 
@@ -54,8 +54,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap_ros/GetMap.h"
 #include "rtabmap_ros/SetGoal.h"
 #include "rtabmap_ros/SetLabel.h"
-
-#include "PreferencesDialogROS.h"
+#include "rtabmap_ros/PreferencesDialogROS.h"
 
 #include <pcl_ros/transforms.h>
 #include <pcl_conversions/pcl_conversions.h>

src/GuiWrapper.h

@@ -1,492 +0,0 @@
-/*
-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_ */

src/MapAssemblerNode.cpp

@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <ros/ros.h>
 #include "rtabmap_ros/MapData.h"
 #include "rtabmap_ros/MsgConversion.h"
-#include "MapsManager.h"
+#include "rtabmap_ros/MapsManager.h"
 #include <rtabmap/core/util3d_transforms.h>
 #include <rtabmap/core/util3d.h>
 #include <rtabmap/core/util3d_filtering.h>

src/MapsManager.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "MapsManager.h"
+#include "rtabmap_ros/MapsManager.h"
 
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UTimer.h>

src/MapsManager.h

@@ -1,134 +0,0 @@
-/*
-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_ */

src/OdometryROS.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "OdometryROS.h"
+#include "rtabmap_ros/OdometryROS.h"
 
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/image_encodings.h>

src/PreferencesDialogROS.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "PreferencesDialogROS.h"
+#include "rtabmap_ros/PreferencesDialogROS.h"
 #include <rtabmap/core/Parameters.h>
 #include <QDir>
 #include <QFileInfo>

src/PreferencesDialogROS.h

@@ -1,57 +0,0 @@
-/*
-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_ */

src/nodelets/OdometryROS.h

@@ -1,120 +0,0 @@
-/*
-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

src/nodelets/rgbd_odometry.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "OdometryROS.h"
+#include <rtabmap_ros/OdometryROS.h>
 
 #include <pluginlib/class_list_macros.h>
 #include <nodelet/nodelet.h>
@@ -208,7 +208,7 @@ private:
 				return;
 			}
 
-			ros::Time stamp = image->header.stamp>depth->header.stamp?image->header.stamp:depth->header.stamp;
+			ros::Time stamp = image->header.stamp > depth->header.stamp? image->header.stamp : depth->header.stamp;
 
 			Transform localTransform = getTransform(this->frameId(), image->header.frame_id, stamp);
 			if(localTransform.isNull())

src/nodelets/stereo_odometry.cpp

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#include "OdometryROS.h"
+#include "rtabmap_ros/OdometryROS.h"
 #include "pluginlib/class_list_macros.h"
 #include "nodelet/nodelet.h"