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ros-pkg: added stereo_throttle plugin

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1895 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-17 17:52:37 +00:00
parent 4d8874102e
commit ae38cd2a54
5 changed files with 208 additions and 31 deletions
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CMakeLists.txt
+1
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@@ -119,6 +119,7 @@ set_property(
## Declare a cpp library
add_library(rtabmap_ros
src/nodelets/data_throttle.cpp
src/nodelets/stereo_throttle.cpp
src/nodelets/data_odom_sync.cpp
src/nodelets/point_cloud_xyzrgb.cpp
src/nodelets/disparity_to_depth.cpp
launch/tests/test_stereo_mapping.launch
+25 -30
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@@ -9,7 +9,7 @@
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
@@ -17,7 +17,22 @@
<!-- Run the ROS package stereo_image_proc -->
<group ns="/stereo_camera" >
<!-- Throttle camera images to 10 Hz -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="10"/>
</node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
@@ -28,14 +43,16 @@
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
<remap from="left/camera_info" to="left/camera_info_throttle" />
<remap from="right/camera_info" to="right/camera_info_throttle" />
</node>
<!--
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info" />
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info" />
<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info_throttle" />
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info_throttle" />
<remap from="odometry" to="stereo_odometer/odometry" />
</node>
-->
@@ -43,8 +60,8 @@
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="base_link"/>
@@ -66,8 +83,8 @@
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
@@ -100,7 +117,7 @@
<param name="queue_size" type="int" value="30"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="depth/image" to="/odom_depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
@@ -111,27 +128,5 @@
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/stereo_camera/left/image_rect_color"/>
<remap from="depth/image_in" to="/odom_depth"/>
<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
<remap from="odom_in" to="/stereo_odometer/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
<param name="queue_size" type="int" value="30"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
</node>
</launch>
nodelet_plugins.xml
+8
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@@ -7,6 +7,14 @@
</description>
</class>
<class name="rtabmap/stereo_throttle"
type="rtabmap::StereoThrottleNodelet"
base_class_type="nodelet::Nodelet">
<description>
This is my nodelet.
</description>
</class>
<class name="rtabmap/data_odom_sync"
type="rtabmap::DataOdomSyncNodelet"
base_class_type="nodelet::Nodelet">
src/CoreWrapper.h
-1
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@@ -45,7 +45,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/LaserScan.h>
#include <nav_msgs/Odometry.h>
#include <stereo_msgs/DisparityImage.h>
#include <rtabmap/core/Statistics.h>
#include <rtabmap/core/Parameters.h>
src/nodelets/stereo_throttle.cpp
+174
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@@ -0,0 +1,174 @@
/*
Copyright (c) 2010-2014, 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 "ros/ros.h"
#include "pluginlib/class_list_macros.h"
#include "nodelet/nodelet.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <sensor_msgs/CameraInfo.h>
namespace rtabmap
{
class StereoThrottleNodelet : public nodelet::Nodelet
{
public:
//Constructor
StereoThrottleNodelet():
max_update_rate_(0),
approxSync_(0),
exactSync_(0)
{
}
virtual ~StereoThrottleNodelet()
{
if(approxSync_)
{
delete approxSync_;
}
if(exactSync_)
{
delete exactSync_;
}
}
private:
ros::Time last_update_;
double max_update_rate_;
virtual void onInit()
{
ros::NodeHandle& nh = getNodeHandle();
ros::NodeHandle& pnh = getPrivateNodeHandle();
ros::NodeHandle left_nh(nh, "left");
ros::NodeHandle right_nh(nh, "right");
ros::NodeHandle left_pnh(pnh, "left");
ros::NodeHandle right_pnh(pnh, "right");
image_transport::ImageTransport left_it(left_nh);
image_transport::ImageTransport right_it(right_nh);
image_transport::TransportHints hintsLeft("raw", ros::TransportHints(), left_pnh);
image_transport::TransportHints hintsRight("raw", ros::TransportHints(), right_pnh);
int queueSize = 5;
bool approxSync = false;
pnh.param("approx_sync", approxSync, approxSync);
pnh.param("rate", max_update_rate_, max_update_rate_);
pnh.param("queue_size", queueSize, queueSize);
ROS_INFO("Approximate time sync = %s", approxSync?"true":"false");
if(max_update_rate_ == 0.0)
{
ROS_WARN("Parameter \"rate\" (Hz) is not set!");
}
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
approxSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), imageLeft_, imageRight_, cameraInfoLeft_, cameraInfoRight_);
exactSync_->registerCallback(boost::bind(&StereoThrottleNodelet::callback, this, _1, _2, _3, _4));
}
imageLeft_.subscribe(left_it, left_nh.resolveName("image"), 1, hintsLeft);
imageRight_.subscribe(right_it, right_nh.resolveName("image"), 1, hintsRight);
cameraInfoLeft_.subscribe(left_nh, "camera_info", 1);
cameraInfoRight_.subscribe(right_nh, "camera_info", 1);
imageLeftPub_ = left_it.advertise(left_nh.resolveName("image")+"_throttle", 1);
imageRightPub_ = right_it.advertise(right_nh.resolveName("image")+"_throttle", 1);
infoLeftPub_ = left_nh.advertise<sensor_msgs::CameraInfo>(left_nh.resolveName("camera_info")+"_throttle", 1);
infoRightPub_ = right_nh.advertise<sensor_msgs::CameraInfo>(right_nh.resolveName("camera_info")+"_throttle", 1);
};
void callback(const sensor_msgs::ImageConstPtr& imageLeft,
const sensor_msgs::ImageConstPtr& imageRight,
const sensor_msgs::CameraInfoConstPtr& camInfoLeft,
const sensor_msgs::CameraInfoConstPtr& camInfoRight)
{
if (max_update_rate_ > 0.0)
{
NODELET_DEBUG("update set to %f", max_update_rate_);
if ( last_update_ + ros::Duration(1.0/max_update_rate_) > ros::Time::now())
{
NODELET_DEBUG("throttle last update at %f skipping", last_update_.toSec());
return;
}
}
else
NODELET_DEBUG("update_rate unset continuing");
last_update_ = ros::Time::now();
if(imageLeftPub_.getNumSubscribers())
{
imageLeftPub_.publish(imageLeft);
}
if(imageRightPub_.getNumSubscribers())
{
imageRightPub_.publish(imageRight);
}
if(infoLeftPub_.getNumSubscribers())
{
infoLeftPub_.publish(camInfoLeft);
}
if(infoRightPub_.getNumSubscribers())
{
infoRightPub_.publish(camInfoRight);
}
}
image_transport::Publisher imageLeftPub_;
image_transport::Publisher imageRightPub_;
ros::Publisher infoLeftPub_;
ros::Publisher infoRightPub_;
image_transport::SubscriberFilter imageLeft_;
image_transport::SubscriberFilter imageRight_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> MyExactSyncPolicy;
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
};
PLUGINLIB_EXPORT_CLASS(rtabmap::StereoThrottleNodelet, nodelet::Nodelet);
}