ported rtabmap_ros_pkg_split to ros2

2026-10-07 10:17:45 +08:00 · 2023-02-22 23:11:49 -08:00
parent 469b8311f8
commit 778a474b96
452 changed files with 4572 additions and 58667 deletions
@@ -0,0 +1,115 @@
+/*
+Copyright (c) 2010-2019, 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.
+*/
+
+#include <rtabmap_util/visibility.h>
+#include "rclcpp/rclcpp.hpp"
+
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+
+#include <nav_msgs/msg/odometry.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <message_filters/subscriber.h>
+#include <message_filters/sync_policies/exact_time.h>
+
+#include <rtabmap_conversions/MsgConversion.h>
+#include <rtabmap/core/util3d.h>
+#include <rtabmap/core/util3d_filtering.h>
+
+namespace rtabmap_util
+{
+
+/**
+ * This nodelet can assemble a number of clouds (max_clouds) coming
+ * from the same sensor, taking into account the displacement of the robot based on
+ * fixed_frame_id, then publish the resulting cloud.
+ * If fixed_frame_id is set to "" (empty), the nodelet will subscribe to
+ * an odom topic that should have the exact same stamp than to input cloud.
+ * The output cloud has the same stamp and frame than the last assembled cloud.
+ */
+class PointCloudAssembler : public rclcpp::Node
+{
+public:
+	RTABMAP_UTIL_PUBLIC
+	explicit PointCloudAssembler(const rclcpp::NodeOptions & options);
+
+	virtual ~PointCloudAssembler();
+
+private:
+	void callbackCloudOdomInfo(
+				const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg,
+				const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
+				const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg);
+
+	void callbackCloudOdom(
+			const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg,
+			const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg);
+
+	void callbackCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg);
+
+private:
+	std::thread * warningThread_;
+	bool callbackCalled_;
+
+	rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr cloudSub_;
+	rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloudPub_;
+
+	typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::PointCloud2, nav_msgs::msg::Odometry> syncPolicy;
+	typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::PointCloud2, nav_msgs::msg::Odometry, rtabmap_msgs::msg::OdomInfo> syncInfoPolicy;
+	message_filters::Synchronizer<syncPolicy>* exactSync_;
+	message_filters::Synchronizer<syncInfoPolicy>* exactInfoSync_;
+	message_filters::Subscriber<sensor_msgs::msg::PointCloud2> syncCloudSub_;
+	message_filters::Subscriber<nav_msgs::msg::Odometry> syncOdomSub_;
+	message_filters::Subscriber<rtabmap_msgs::msg::OdomInfo> syncOdomInfoSub_;
+
+	int maxClouds_;
+	int skipClouds_;
+	int cloudsSkipped_;
+	bool circularBuffer_;
+	double linearUpdate_;
+	double angularUpdate_;
+	double assemblingTime_;
+	double waitForTransform_;
+	double rangeMin_;
+	double rangeMax_;
+	double voxelSize_;
+	double noiseRadius_;
+	int noiseMinNeighbors_;
+	bool removeZ_;
+	std::string fixedFrameId_;
+	std::string frameId_;
+	std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
+	std::shared_ptr<tf2_ros::TransformListener> tfListener_;
+	rtabmap::Transform previousPose_;
+
+	std::list<pcl::PCLPointCloud2::Ptr> clouds_;
+
+	std::string subscribedTopicsMsg_;
+};
+
+}