mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 09:47:46 +08:00
moved all the header file into include
This commit is contained in:
Di Zeng
@@ -1,626 +0,0 @@
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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
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "OdometryROS.h"
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/image_encodings.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <nav_msgs/Odometry.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include <cv_bridge/cv_bridge.h>
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#include <rtabmap/core/Rtabmap.h>
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#include <rtabmap/core/OdometryF2M.h>
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#include <rtabmap/core/OdometryF2F.h>
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#include <rtabmap/core/util3d_transforms.h>
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#include <rtabmap/core/Memory.h>
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#include <rtabmap/core/Signature.h>
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#include "rtabmap_ros/MsgConversion.h"
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#include "rtabmap_ros/OdomInfo.h"
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#include "rtabmap/utilite/UConversion.h"
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#include "rtabmap/utilite/ULogger.h"
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#include "rtabmap/utilite/UStl.h"
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#include "rtabmap/utilite/UFile.h"
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#define BAD_COVARIANCE 9999
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using namespace rtabmap;
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namespace rtabmap_ros {
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OdometryROS::OdometryROS(bool stereo) :
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odometry_(0),
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frameId_("base_link"),
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odomFrameId_("odom"),
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groundTruthFrameId_(""),
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publishTf_(true),
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waitForTransform_(true),
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waitForTransformDuration_(0.1), // 100 ms
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publishNullWhenLost_(true),
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guessFromTf_(false),
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paused_(false),
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resetCountdown_(0),
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resetCurrentCount_(0),
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stereo_(stereo)
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{
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}
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OdometryROS::~OdometryROS()
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{
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ros::NodeHandle & pnh = getPrivateNodeHandle();
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if(pnh.ok())
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{
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for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
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{
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pnh.deleteParam(iter->first);
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}
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}
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delete odometry_;
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}
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void OdometryROS::onInit()
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{
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ros::NodeHandle & nh = getNodeHandle();
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ros::NodeHandle & pnh = getPrivateNodeHandle();
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odomPub_ = nh.advertise<nav_msgs::Odometry>("odom", 1);
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odomInfoPub_ = nh.advertise<rtabmap_ros::OdomInfo>("odom_info", 1);
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odomLocalMap_ = nh.advertise<sensor_msgs::PointCloud2>("odom_local_map", 1);
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odomLastFrame_ = nh.advertise<sensor_msgs::PointCloud2>("odom_last_frame", 1);
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Transform initialPose = Transform::getIdentity();
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std::string initialPoseStr;
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std::string tfPrefix;
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std::string configPath;
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pnh.param("frame_id", frameId_, frameId_);
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pnh.param("odom_frame_id", odomFrameId_, odomFrameId_);
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pnh.param("publish_tf", publishTf_, publishTf_);
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pnh.param("tf_prefix", tfPrefix, tfPrefix);
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pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
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pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
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pnh.param("initial_pose", initialPoseStr, initialPoseStr); // "x y z roll pitch yaw"
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pnh.param("ground_truth_frame_id", groundTruthFrameId_, groundTruthFrameId_);
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pnh.param("config_path", configPath, configPath);
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pnh.param("publish_null_when_lost", publishNullWhenLost_, publishNullWhenLost_);
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pnh.param("guess_from_tf", guessFromTf_, guessFromTf_);
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if(publishTf_ && guessFromTf_)
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{
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NODELET_WARN( "\"publish_tf\" and \"guess_from_tf\" cannot be used at the same time. \"guess_from_tf\" is disabled.");
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guessFromTf_ = false;
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}
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configPath = uReplaceChar(configPath, '~', UDirectory::homeDir());
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if(configPath.size() && configPath.at(0) != '/')
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{
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configPath = UDirectory::currentDir(true) + configPath;
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}
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if(!tfPrefix.empty())
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{
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if(!frameId_.empty())
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{
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frameId_ = tfPrefix + "/" + frameId_;
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}
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if(!odomFrameId_.empty())
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{
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odomFrameId_ = tfPrefix + "/" + odomFrameId_;
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}
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if(!groundTruthFrameId_.empty())
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{
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groundTruthFrameId_ = tfPrefix + "/" + groundTruthFrameId_;
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}
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}
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if(initialPoseStr.size())
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{
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std::vector<std::string> values = uListToVector(uSplit(initialPoseStr, ' '));
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if(values.size() == 6)
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{
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initialPose = Transform(
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uStr2Float(values[0]), uStr2Float(values[1]), uStr2Float(values[2]),
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uStr2Float(values[3]), uStr2Float(values[4]), uStr2Float(values[5]));
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}
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else
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{
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NODELET_ERROR( "Wrong initial_pose format: %s (should be \"x y z roll pitch yaw\" with angle in radians). "
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"Identity will be used...", initialPoseStr.c_str());
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}
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}
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//parameters
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parameters_ = Parameters::getDefaultOdometryParameters(stereo_);
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if(!configPath.empty())
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{
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if(UFile::exists(configPath.c_str()))
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{
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NODELET_INFO( "Odometry: Loading parameters from %s", configPath.c_str());
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rtabmap::ParametersMap allParameters;
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Parameters::readINI(configPath.c_str(), allParameters);
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// only update odometry parameters
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for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
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{
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ParametersMap::iterator jter = allParameters.find(iter->first);
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if(jter!=allParameters.end())
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{
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iter->second = jter->second;
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}
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}
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}
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else
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{
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NODELET_ERROR( "Config file \"%s\" not found!", configPath.c_str());
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}
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}
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for(rtabmap::ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
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{
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std::string vStr;
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bool vBool;
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int vInt;
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double vDouble;
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if(pnh.getParam(iter->first, vStr))
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{
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NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());
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iter->second = vStr;
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}
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else if(pnh.getParam(iter->first, vBool))
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{
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NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uBool2Str(vBool).c_str());
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iter->second = uBool2Str(vBool);
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}
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else if(pnh.getParam(iter->first, vDouble))
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{
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NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vDouble).c_str());
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iter->second = uNumber2Str(vDouble);
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}
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else if(pnh.getParam(iter->first, vInt))
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{
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NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vInt).c_str());
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iter->second = uNumber2Str(vInt);
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}
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if(iter->first.compare(Parameters::kVisMinInliers()) == 0 && atoi(iter->second.c_str()) < 8)
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{
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NODELET_WARN( "Parameter min_inliers must be >= 8, setting to 8...");
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iter->second = uNumber2Str(8);
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}
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}
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std::vector<std::string> argList = getMyArgv();
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char * argv[argList.size()];
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for(unsigned int i=0; i<argList.size(); ++i)
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{
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argv[i] = &argList[i].at(0);
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}
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rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
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for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
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{
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rtabmap::ParametersMap::iterator jter = parameters_.find(iter->first);
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if(jter!=parameters_.end())
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{
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NODELET_INFO( "Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
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jter->second = iter->second;
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}
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}
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// Backward compatibility
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for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=Parameters::getRemovedParameters().begin();
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iter!=Parameters::getRemovedParameters().end();
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++iter)
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{
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std::string vStr;
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if(pnh.getParam(iter->first, vStr))
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{
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if(iter->second.first)
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{
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// can be migrated
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parameters_.at(iter->second.second)= vStr;
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NODELET_WARN( "Odometry: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
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iter->first.c_str(), iter->second.second.c_str(), vStr.c_str());
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}
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else
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{
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if(iter->second.second.empty())
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{
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NODELET_ERROR( "Odometry: Parameter \"%s\" doesn't exist anymore!",
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iter->first.c_str());
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}
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else
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{
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NODELET_ERROR( "Odometry: Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
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iter->first.c_str(), iter->second.second.c_str());
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}
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}
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}
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}
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Parameters::parse(parameters_, Parameters::kOdomResetCountdown(), resetCountdown_);
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parameters_.at(Parameters::kOdomResetCountdown()) = "0"; // use modified reset countdown here
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odometry_ = Odometry::create(parameters_);
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if(!initialPose.isIdentity())
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{
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odometry_->reset(initialPose);
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}
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resetSrv_ = nh.advertiseService("reset_odom", &OdometryROS::reset, this);
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resetToPoseSrv_ = nh.advertiseService("reset_odom_to_pose", &OdometryROS::resetToPose, this);
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pauseSrv_ = nh.advertiseService("pause_odom", &OdometryROS::pause, this);
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resumeSrv_ = nh.advertiseService("resume_odom", &OdometryROS::resume, this);
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setLogDebugSrv_ = pnh.advertiseService("log_debug", &OdometryROS::setLogDebug, this);
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setLogInfoSrv_ = pnh.advertiseService("log_info", &OdometryROS::setLogInfo, this);
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setLogWarnSrv_ = pnh.advertiseService("log_warning", &OdometryROS::setLogWarn, this);
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setLogErrorSrv_ = pnh.advertiseService("log_error", &OdometryROS::setLogError, this);
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onOdomInit();
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}
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Transform OdometryROS::getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const
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{
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// TF ready?
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Transform transform;
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try
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{
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if(waitForTransform_ && !stamp.isZero() && waitForTransformDuration_ > 0.0)
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{
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//if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1)))
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if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_)))
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{
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NODELET_WARN( "odometry: Could not get transform from %s to %s (stamp=%f) after %f seconds (\"wait_for_transform_duration\"=%f)!",
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fromFrameId.c_str(), toFrameId.c_str(), stamp.toSec(), waitForTransformDuration_, waitForTransformDuration_);
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return transform;
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}
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}
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tf::StampedTransform tmp;
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tfListener_.lookupTransform(fromFrameId, toFrameId, stamp, tmp);
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transform = rtabmap_ros::transformFromTF(tmp);
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}
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catch(tf::TransformException & ex)
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{
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NODELET_WARN( "%s",ex.what());
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}
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return transform;
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}
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void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
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{
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if(odometry_->getPose().isIdentity() &&
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!groundTruthFrameId_.empty())
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{
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// sync with the first value of the ground truth
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Transform initialPose = getTransform(groundTruthFrameId_, frameId_, stamp);
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if(initialPose.isNull())
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{
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return;
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}
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NODELET_INFO( "Initializing odometry pose to %s (from \"%s\" -> \"%s\")",
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initialPose.prettyPrint().c_str(),
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groundTruthFrameId_.c_str(),
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frameId_.c_str());
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odometry_->reset(initialPose);
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}
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Transform guess;
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if(guessFromTf_)
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{
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Transform previousPose = this->getTransform(odomFrameId_, frameId_, ros::Time(odometry_->previousStamp()));
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Transform pose = this->getTransform(odomFrameId_, frameId_, stamp);
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if(!previousPose.isNull() && !pose.isNull())
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{
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guess = previousPose.inverse() * pose;
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/*if(!odometry_->previousVelocityTransform().isNull())
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{
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float dt = rtabmap_ros::timestampFromROS(stamp) - odometry_->previousStamp();
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float vx,vy,vz, vroll,vpitch,vyaw;
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odometry_->previousVelocityTransform().getTranslationAndEulerAngles(vx,vy,vz, vroll,vpitch,vyaw);
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Transform motionGuess(vx*dt, vy*dt, vz*dt, vroll*dt, vpitch*dt, vyaw*dt);
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NODELET_WARN( "P Guess %s", motionGuess.prettyPrint().c_str());
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}
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NODELET_WARN( "TF Guess %s", guess.prettyPrint().c_str());*/
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}
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}
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// process data
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||||
ros::WallTime time = ros::WallTime::now();
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rtabmap::OdometryInfo info;
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SensorData dataCpy = data;
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rtabmap::Transform pose = odometry_->process(dataCpy, guess, &info);
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if(!pose.isNull())
|
||||
{
|
||||
resetCurrentCount_ = resetCountdown_;
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||||
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||||
//*********************
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||||
// Update odometry
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||||
//*********************
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||||
geometry_msgs::TransformStamped poseMsg;
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poseMsg.child_frame_id = frameId_;
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poseMsg.header.frame_id = odomFrameId_;
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||||
poseMsg.header.stamp = stamp;
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rtabmap_ros::transformToGeometryMsg(pose, poseMsg.transform);
|
||||
|
||||
if(publishTf_)
|
||||
{
|
||||
tfBroadcaster_.sendTransform(poseMsg);
|
||||
}
|
||||
|
||||
if(odomPub_.getNumSubscribers())
|
||||
{
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||||
//next, we'll publish the odometry message over ROS
|
||||
nav_msgs::Odometry odom;
|
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odom.header.stamp = stamp; // use corresponding time stamp to image
|
||||
odom.header.frame_id = odomFrameId_;
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||||
odom.child_frame_id = frameId_;
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||||
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||||
//set the position
|
||||
odom.pose.pose.position.x = poseMsg.transform.translation.x;
|
||||
odom.pose.pose.position.y = poseMsg.transform.translation.y;
|
||||
odom.pose.pose.position.z = poseMsg.transform.translation.z;
|
||||
odom.pose.pose.orientation = poseMsg.transform.rotation;
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||||
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||||
//set covariance
|
||||
// libviso2 uses approximately vel variance * 2
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odom.pose.covariance.at(0) = info.variance*2; // xx
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||||
odom.pose.covariance.at(7) = info.variance*2; // yy
|
||||
odom.pose.covariance.at(14) = info.variance*2; // zz
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||||
odom.pose.covariance.at(21) = info.variance*2; // rr
|
||||
odom.pose.covariance.at(28) = info.variance*2; // pp
|
||||
odom.pose.covariance.at(35) = info.variance*2; // yawyaw
|
||||
|
||||
//set velocity
|
||||
bool setTwist = !odometry_->previousVelocityTransform().isNull();
|
||||
if(setTwist)
|
||||
{
|
||||
float x,y,z,roll,pitch,yaw;
|
||||
odometry_->previousVelocityTransform().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
|
||||
odom.twist.twist.linear.x = x;
|
||||
odom.twist.twist.linear.y = y;
|
||||
odom.twist.twist.linear.z = z;
|
||||
odom.twist.twist.angular.x = roll;
|
||||
odom.twist.twist.angular.y = pitch;
|
||||
odom.twist.twist.angular.z = yaw;
|
||||
}
|
||||
|
||||
odom.twist.covariance.at(0) = setTwist?info.variance:BAD_COVARIANCE; // xx
|
||||
odom.twist.covariance.at(7) = setTwist?info.variance:BAD_COVARIANCE; // yy
|
||||
odom.twist.covariance.at(14) = setTwist?info.variance:BAD_COVARIANCE; // zz
|
||||
odom.twist.covariance.at(21) = setTwist?info.variance:BAD_COVARIANCE; // rr
|
||||
odom.twist.covariance.at(28) = setTwist?info.variance:BAD_COVARIANCE; // pp
|
||||
odom.twist.covariance.at(35) = setTwist?info.variance:BAD_COVARIANCE; // yawyaw
|
||||
|
||||
//publish the message
|
||||
odomPub_.publish(odom);
|
||||
}
|
||||
|
||||
// local map / reference frame
|
||||
if(odomLocalMap_.getNumSubscribers() && dynamic_cast<OdometryF2M*>(odometry_))
|
||||
{
|
||||
pcl::PointCloud<pcl::PointXYZ> cloud;
|
||||
const std::multimap<int, cv::Point3f> & map = ((OdometryF2M*)odometry_)->getMap().getWords3();
|
||||
for(std::multimap<int, cv::Point3f>::const_iterator iter=map.begin(); iter!=map.end(); ++iter)
|
||||
{
|
||||
cloud.push_back(pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z));
|
||||
}
|
||||
sensor_msgs::PointCloud2 cloudMsg;
|
||||
pcl::toROSMsg(cloud, cloudMsg);
|
||||
cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
|
||||
cloudMsg.header.frame_id = odomFrameId_;
|
||||
odomLocalMap_.publish(cloudMsg);
|
||||
}
|
||||
|
||||
if(odomLastFrame_.getNumSubscribers())
|
||||
{
|
||||
if(dynamic_cast<OdometryF2M*>(odometry_))
|
||||
{
|
||||
const std::multimap<int, cv::Point3f> & words3 = ((OdometryF2M*)odometry_)->getLastFrame().getWords3();
|
||||
if(words3.size())
|
||||
{
|
||||
pcl::PointCloud<pcl::PointXYZ> cloud;
|
||||
for(std::multimap<int, cv::Point3f>::const_iterator iter=words3.begin(); iter!=words3.end(); ++iter)
|
||||
{
|
||||
// transform to odom frame
|
||||
cv::Point3f pt = util3d::transformPoint(iter->second, pose);
|
||||
cloud.push_back(pcl::PointXYZ(pt.x, pt.y, pt.z));
|
||||
}
|
||||
|
||||
sensor_msgs::PointCloud2 cloudMsg;
|
||||
pcl::toROSMsg(cloud, cloudMsg);
|
||||
cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
|
||||
cloudMsg.header.frame_id = odomFrameId_;
|
||||
odomLastFrame_.publish(cloudMsg);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
//Frame to Frame
|
||||
const Signature & refFrame = ((OdometryF2F*)odometry_)->getRefFrame();
|
||||
if(refFrame.getWords3().size())
|
||||
{
|
||||
pcl::PointCloud<pcl::PointXYZ> cloud;
|
||||
for(std::multimap<int, cv::Point3f>::const_iterator iter=refFrame.getWords3().begin(); iter!=refFrame.getWords3().end(); ++iter)
|
||||
{
|
||||
// transform to odom frame
|
||||
cv::Point3f pt = util3d::transformPoint(iter->second, pose);
|
||||
cloud.push_back(pcl::PointXYZ(pt.x, pt.y, pt.z));
|
||||
}
|
||||
sensor_msgs::PointCloud2 cloudMsg;
|
||||
pcl::toROSMsg(cloud, cloudMsg);
|
||||
cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
|
||||
cloudMsg.header.frame_id = odomFrameId_;
|
||||
odomLastFrame_.publish(cloudMsg);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else if(publishNullWhenLost_)
|
||||
{
|
||||
//NODELET_WARN( "Odometry lost!");
|
||||
|
||||
//send null pose to notify that odometry is lost
|
||||
nav_msgs::Odometry odom;
|
||||
odom.header.stamp = stamp; // use corresponding time stamp to image
|
||||
odom.header.frame_id = odomFrameId_;
|
||||
odom.child_frame_id = frameId_;
|
||||
odom.pose.covariance.at(0) = BAD_COVARIANCE; // xx
|
||||
odom.pose.covariance.at(7) = BAD_COVARIANCE; // yy
|
||||
odom.pose.covariance.at(14) = BAD_COVARIANCE; // zz
|
||||
odom.pose.covariance.at(21) = BAD_COVARIANCE; // rr
|
||||
odom.pose.covariance.at(28) = BAD_COVARIANCE; // pp
|
||||
odom.pose.covariance.at(35) = BAD_COVARIANCE; // yawyaw
|
||||
odom.twist.covariance.at(0) = BAD_COVARIANCE; // xx
|
||||
odom.twist.covariance.at(7) = BAD_COVARIANCE; // yy
|
||||
odom.twist.covariance.at(14) = BAD_COVARIANCE; // zz
|
||||
odom.twist.covariance.at(21) = BAD_COVARIANCE; // rr
|
||||
odom.twist.covariance.at(28) = BAD_COVARIANCE; // pp
|
||||
odom.twist.covariance.at(35) = BAD_COVARIANCE; // yawyaw
|
||||
|
||||
//publish the message
|
||||
odomPub_.publish(odom);
|
||||
}
|
||||
|
||||
if(pose.isNull() && resetCurrentCount_ > 0)
|
||||
{
|
||||
NODELET_WARN( "Odometry lost! Odometry will be reset after next %d consecutive unsuccessful odometry updates...", resetCurrentCount_);
|
||||
|
||||
--resetCurrentCount_;
|
||||
if(resetCurrentCount_ == 0)
|
||||
{
|
||||
// Check TF to see if sensor fusion is used (e.g., the output of robot_localization)
|
||||
Transform tfPose = this->getTransform(odomFrameId_, frameId_, stamp);
|
||||
if(tfPose.isNull())
|
||||
{
|
||||
NODELET_WARN( "Odometry automatically reset to latest computed pose!");
|
||||
odometry_->reset(odometry_->getPose());
|
||||
}
|
||||
else
|
||||
{
|
||||
NODELET_WARN( "Odometry automatically reset to latest odometry pose available from TF (%s->%s)!",
|
||||
odomFrameId_.c_str(), frameId_.c_str());
|
||||
odometry_->reset(tfPose);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
if(odomInfoPub_.getNumSubscribers())
|
||||
{
|
||||
rtabmap_ros::OdomInfo infoMsg;
|
||||
odomInfoToROS(info, infoMsg);
|
||||
infoMsg.header.stamp = stamp; // use corresponding time stamp to image
|
||||
infoMsg.header.frame_id = odomFrameId_;
|
||||
odomInfoPub_.publish(infoMsg);
|
||||
}
|
||||
|
||||
NODELET_INFO( "Odom: quality=%d, std dev=%fm, update time=%fs", info.inliers, pose.isNull()?0.0f:std::sqrt(info.variance), (ros::WallTime::now()-time).toSec());
|
||||
}
|
||||
|
||||
bool OdometryROS::isOdometryF2M() const
|
||||
{
|
||||
return dynamic_cast<OdometryF2M*>(odometry_) != 0;
|
||||
}
|
||||
|
||||
bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
|
||||
{
|
||||
NODELET_INFO( "visual_odometry: reset odom!");
|
||||
odometry_->reset();
|
||||
this->flushCallbacks();
|
||||
return true;
|
||||
}
|
||||
|
||||
bool OdometryROS::resetToPose(rtabmap_ros::ResetPose::Request& req, rtabmap_ros::ResetPose::Response&)
|
||||
{
|
||||
Transform pose(req.x, req.y, req.z, req.roll, req.pitch, req.yaw);
|
||||
NODELET_INFO( "visual_odometry: reset odom to pose %s!", pose.prettyPrint().c_str());
|
||||
odometry_->reset(pose);
|
||||
this->flushCallbacks();
|
||||
return true;
|
||||
}
|
||||
|
||||
bool OdometryROS::pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
|
||||
{
|
||||
if(paused_)
|
||||
{
|
||||
NODELET_WARN( "visual_odometry: Already paused!");
|
||||
}
|
||||
else
|
||||
{
|
||||
paused_ = true;
|
||||
NODELET_INFO( "visual_odometry: paused!");
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool OdometryROS::resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
|
||||
{
|
||||
if(!paused_)
|
||||
{
|
||||
NODELET_WARN( "visual_odometry: Already running!");
|
||||
}
|
||||
else
|
||||
{
|
||||
paused_ = false;
|
||||
NODELET_INFO( "visual_odometry: resumed!");
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool OdometryROS::setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
|
||||
{
|
||||
NODELET_INFO( "visual_odometry: Set log level to Debug");
|
||||
ULogger::setLevel(ULogger::kDebug);
|
||||
return true;
|
||||
}
|
||||
bool OdometryROS::setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
|
||||
{
|
||||
NODELET_INFO( "visual_odometry: Set log level to Info");
|
||||
ULogger::setLevel(ULogger::kInfo);
|
||||
return true;
|
||||
}
|
||||
bool OdometryROS::setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
|
||||
{
|
||||
NODELET_INFO( "visual_odometry: Set log level to Warning");
|
||||
ULogger::setLevel(ULogger::kWarning);
|
||||
return true;
|
||||
}
|
||||
bool OdometryROS::setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
|
||||
{
|
||||
NODELET_INFO( "visual_odometry: Set log level to Error");
|
||||
ULogger::setLevel(ULogger::kError);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -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
|
||||
@@ -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())
|
||||
|
||||
@@ -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"
|
||||
|
||||
|
||||
Reference in New Issue
Block a user