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matlabbe
2eef2b3231
* Lyrical support * removed dep not available on lyrical * updated docker lyrcical * making cmake less verbose, disabled tests on rtabmap_python * cleanup not used tests in rtabmap_python * addressing some lyrical deprecated warnings * cancel pr jobs on recommit * small refactor * disabled lyrical bin docker * restored python test and fixed error * trigger ci * fixing docker lyrical * disabled rtabmap_ros lyrical * pytest * fixing packages-skip * bump 0.23.7
156 lines
6.6 KiB
C++
156 lines
6.6 KiB
C++
/*
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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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#ifndef GUIWRAPPER_H_
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#define GUIWRAPPER_H_
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#include <rtabmap_viz/visibility.h>
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#include <rclcpp/rclcpp.hpp>
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#include <rclcpp/executor.hpp>
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#include "rtabmap_msgs/msg/info.hpp"
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#include "rtabmap_msgs/msg/map_data.hpp"
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#include "rtabmap_msgs/msg/odom_info.hpp"
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#include "rtabmap_msgs/msg/goal.hpp"
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#include "rtabmap/utilite/UEventsHandler.h"
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#include "rtabmap/core/Transform.h"
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#include <tf2_ros/buffer.hpp>
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#include <tf2_ros/transform_listener.hpp>
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#include <geometry_msgs/msg/twist_stamped.hpp>
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#include <nav_msgs/msg/path.hpp>
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#include <std_msgs/msg/bool.hpp>
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#include <std_msgs/msg/int32_multi_array.hpp>
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#include "rtabmap_msgs/srv/get_map.hpp"
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#include <rtabmap_sync/CommonDataSubscriber.h>
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namespace rtabmap
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{
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class MainWindow;
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class PreferencesDialog;
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}
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class QApplication;
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namespace rtabmap_viz {
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class GuiWrapper : public rclcpp::Node, public UEventsHandler, public rtabmap_sync::CommonDataSubscriber
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{
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public:
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RTABMAP_VIZ_PUBLIC
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explicit GuiWrapper(const rclcpp::NodeOptions & options);
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virtual ~GuiWrapper();
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protected:
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virtual bool handleEvent(UEvent * anEvent);
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private:
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void infoMapCallback(const rtabmap_msgs::msg::Info::ConstSharedPtr infoMsg, const rtabmap_msgs::msg::MapData::ConstSharedPtr mapMsg);
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void infoCallback(const rtabmap_msgs::msg::Info::ConstSharedPtr infoMsg);
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void goalPathCallback(const rtabmap_msgs::msg::Goal::ConstSharedPtr goalMsg, const nav_msgs::msg::Path::ConstSharedPtr pathMsg);
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void goalReachedCallback(const std_msgs::msg::Bool::ConstSharedPtr value);
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virtual void commonMultiCameraCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
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const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
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const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
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const std::vector<sensor_msgs::msg::CameraInfo> & cameraInfoMsgs,
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const std::vector<sensor_msgs::msg::CameraInfo> & depthCameraInfoMsgs,
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const sensor_msgs::msg::LaserScan & scanMsg,
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const sensor_msgs::msg::PointCloud2 & scan3dMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
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const std::vector<rtabmap_msgs::msg::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::msg::GlobalDescriptor>(),
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const std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_msgs::msg::KeyPoint> >(),
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const std::vector<std::vector<rtabmap_msgs::msg::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_msgs::msg::Point3f> >(),
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const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>());
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virtual void commonLaserScanCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
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const sensor_msgs::msg::LaserScan & scan2dMsg,
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const sensor_msgs::msg::PointCloud2 & scan3dMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg,
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const rtabmap_msgs::msg::GlobalDescriptor & globalDescriptor = rtabmap_msgs::msg::GlobalDescriptor());
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virtual void commonOdomCallback(
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const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
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const rtabmap_msgs::msg::UserData::ConstSharedPtr & userDataMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr& odomInfoMsg);
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virtual void commonSensorDataCallback(
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const rtabmap_msgs::msg::SensorData::ConstSharedPtr & sensorDataMsg,
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const nav_msgs::msg::Odometry::ConstSharedPtr & odomMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr & odomInfoMsg);
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void defaultCallback(const nav_msgs::msg::Odometry::SharedPtr & odomMsg);
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void processRequestedMap(const rtabmap_msgs::msg::MapData & map);
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bool callEmptyService(const std::string & name);
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bool callMapDataService(const std::string & name, bool global, bool optimized, bool graphOnly);
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private:
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rtabmap::PreferencesDialog * prefDialog_;
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rtabmap::MainWindow * mainWindow_;
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double lastOdomInfoUpdateTime_;
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std::string rtabmapNodeName_;
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std::string odometryNodeName_;
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// odometry subscription stuffs
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std::string frameId_;
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std::string odomFrameId_;
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double waitForTransform_;
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bool odomSensorSync_;
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double maxOdomUpdateRate_;
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std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
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std::shared_ptr<tf2_ros::TransformListener> tfListener_;
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rclcpp::Publisher<std_msgs::msg::Int32MultiArray>::SharedPtr republishNodeDataPub_;
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message_filters::Subscriber<rtabmap_msgs::msg::Info> infoTopic_;
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message_filters::Subscriber<rtabmap_msgs::msg::MapData> mapDataTopic_;
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rclcpp::Subscription<rtabmap_msgs::msg::Info>::SharedPtr infoOnlyTopic_;
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message_filters::Subscriber<rtabmap_msgs::msg::Goal> goalTopic_;
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message_filters::Subscriber<nav_msgs::msg::Path> pathTopic_;
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rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr goalReachedTopic_;
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typedef message_filters::sync_policies::ExactTime<
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rtabmap_msgs::msg::Info,
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rtabmap_msgs::msg::MapData> MyInfoMapSyncPolicy;
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message_filters::Synchronizer<MyInfoMapSyncPolicy> * infoMapSync_;
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typedef message_filters::sync_policies::ExactTime<
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rtabmap_msgs::msg::Goal,
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nav_msgs::msg::Path> MyGoalPathSyncPolicy;
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message_filters::Synchronizer<MyGoalPathSyncPolicy> * goalPathSync_;
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};
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}
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#endif /* GUIWRAPPER_H_ */
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