i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

rtabmap node publishes now directly /rtabmap/cloud_map, /rtabmap/proj_map and /rtabmap/grid_map (added all related rosparam), update grid_map_assembler node with the new efficient way of creating map

Browse Source
This commit is contained in:
Mathieu Labbe
2015-02-11 17:09:29 -05:00
parent 766f84028f
commit c139c263db
10 changed files with 682 additions and 170 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/CoreWrapper.h
+33 -4
View File
@@ -46,6 +46,7 @@ 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 <nav_msgs/GetMap.h>
#include <rtabmap/core/Statistics.h>
#include <rtabmap/core/Parameters.h>
@@ -63,6 +64,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <actionlib/client/simple_action_client.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <move_base_msgs/MoveBaseActionGoal.h>
@@ -129,7 +133,9 @@ private:
bool triggerNewMapCallback(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 getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& rep);
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);
@@ -138,7 +144,9 @@ private:
void publishLoop(double tfDelay);
void publishStats(const rtabmap::Statistics & stats, const ros::Time & stamp);
void publishStats(const ros::Time & stamp);
std::map<int, rtabmap::Transform> updateMapCaches(const std::map<int, rtabmap::Transform> & poses, bool updateCloud, bool updateProj, bool updateGrid);
void publishMaps(const std::map<int, rtabmap::Transform> & poses, const ros::Time & stamp);
void publishCurrentGoal(const ros::Time & stamp);
void goalDoneCb(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result);
void goalActiveCb();
@@ -160,12 +168,31 @@ private:
bool waitForTransform_;
bool useActionForGoal_;
// mapping stuff
int cloudDecimation_;
double cloudMaxDepth_;
double cloudVoxelSize_;
double projMaxGroundAngle_;
int projMinClusterSize_;
double projMaxHeight_;
double gridCellSize_;
double gridSize_;
double mapFilterRadius_;
double mapFilterAngle_;
tf::Transform mapToOdom_;
boost::mutex mapToOdomMutex_;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
std::map<int, std::pair<cv::Mat, cv::Mat> > projMaps_; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > gridMaps_; // <ground, obstacles>
ros::Publisher infoPub_;
ros::Publisher mapData_;
ros::Publisher mapGraph_;
ros::Publisher mapDataPub_;
ros::Publisher mapGraphPub_;
ros::Publisher cloudMapPub_;
ros::Publisher projMapPub_;
ros::Publisher gridMapPub_;
//Planning stuff
ros::Subscriber goalSub_;
@@ -243,6 +270,8 @@ private:
ros::ServiceServer setModeLocalizationSrv_;
ros::ServiceServer setModeMappingSrv_;
ros::ServiceServer getMapDataSrv_;
ros::ServiceServer getProjMapSrv_;
ros::ServiceServer getGridMapSrv_;
ros::ServiceServer publishMapDataSrv_;
ros::ServiceServer setGoalSrv_;