map_assembler node is now available on ROS2

2026-10-08 10:47:46 +08:00 · 2024-09-11 23:45:55 -07:00
parent 28f997477a
commit c21b0ee84e
5 changed files with 487 additions and 347 deletions
@@ -0,0 +1,104 @@
+/*
+Copyright (c) 2010-2024, 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 <rtabmap_msgs/srv/get_map.hpp>
+#include "rtabmap_msgs/msg/map_data.hpp"
+#include "rtabmap_util/MapsManager.h"
+
+#include <std_srvs/srv/empty.hpp>
+
+#ifdef WITH_OCTOMAP_MSGS
+#ifdef RTABMAP_OCTOMAP
+#include <octomap_msgs/srv/get_octomap.hpp>
+#endif
+#endif
+
+namespace rtabmap_util
+{
+
+class MapAssembler: public rclcpp::Node
+{
+
+public:
+	RTABMAP_UTIL_PUBLIC
+	explicit MapAssembler(const rclcpp::NodeOptions & options);
+    virtual ~MapAssembler();
+
+private:
+	void mapDataReceivedCallback(const rtabmap_msgs::msg::MapData::ConstSharedPtr msg);
+
+	void processMapData(const rtabmap_msgs::msg::MapData & msg);
+
+	void reset(const std::shared_ptr<rmw_request_id_t>,
+		const std::shared_ptr<std_srvs::srv::Empty::Request>,
+		std::shared_ptr<std_srvs::srv::Empty::Response>);
+
+	void timerCallback();
+
+#ifdef WITH_OCTOMAP_MSGS
+#ifdef RTABMAP_OCTOMAP
+	void octomapBinaryCallback(
+		const std::shared_ptr<rmw_request_id_t>,
+		const std::shared_ptr<octomap_msgs::srv::GetOctomap::Request>,
+		std::shared_ptr<octomap_msgs::srv::GetOctomap::Response> res);
+
+    void octomapFullCallback(
+		const std::shared_ptr<rmw_request_id_t>,
+		const std::shared_ptr<octomap_msgs::srv::GetOctomap::Request>,
+		std::shared_ptr<octomap_msgs::srv::GetOctomap::Response> res);
+#endif
+#endif
+
+private:
+	MapsManager mapsManager_;
+	std::map<int, rtabmap::Signature> nodes_;
+	std::map<int, rtabmap::Transform> optimizedPoses_;
+	std::string mapFrameId_;
+	std::string rtabmapNodeName_;
+
+    rclcpp::Subscription<rtabmap_msgs::msg::MapData>::SharedPtr mapDataSub_;
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resetService_;
+
+	rclcpp::CallbackGroup::SharedPtr serviceCbGroup_;
+    rclcpp::CallbackGroup::SharedPtr timerCbGroup_;
+    rclcpp::TimerBase::SharedPtr timer_;
+	rclcpp::Client<rtabmap_msgs::srv::GetMap>::SharedPtr client_;
+
+#ifdef WITH_OCTOMAP_MSGS
+#ifdef RTABMAP_OCTOMAP
+    rclcpp::Service<octomap_msgs::srv::GetOctomap>::SharedPtr octomapBinarySrv_;
+    rclcpp::Service<octomap_msgs::srv::GetOctomap>::SharedPtr octomapFullSrv_;
+#endif
+#endif
+	bool localGridsRegenerated_;
+};
+
+}