mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
272 lines
10 KiB
C++
272 lines
10 KiB
C++
/*
|
|
Copyright (c) 2010-2016, 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.
|
|
*/
|
|
|
|
#ifndef COREWRAPPER_H_
|
|
#define COREWRAPPER_H_
|
|
|
|
|
|
#include <ros/ros.h>
|
|
#include <nodelet/nodelet.h>
|
|
|
|
#include <std_srvs/Empty.h>
|
|
|
|
#include <tf/transform_listener.h>
|
|
#include <tf2_ros/transform_broadcaster.h>
|
|
|
|
#include <std_msgs/Empty.h>
|
|
#include <std_msgs/Int32.h>
|
|
#include <nav_msgs/GetMap.h>
|
|
|
|
#include <rtabmap/core/Parameters.h>
|
|
#include <rtabmap/core/Rtabmap.h>
|
|
|
|
#include "rtabmap_ros/GetMap.h"
|
|
#include "rtabmap_ros/ListLabels.h"
|
|
#include "rtabmap_ros/PublishMap.h"
|
|
#include "rtabmap_ros/SetGoal.h"
|
|
#include "rtabmap_ros/SetLabel.h"
|
|
#include "rtabmap_ros/Goal.h"
|
|
#include "rtabmap_ros/CommonDataSubscriber.h"
|
|
|
|
#include "MapsManager.h"
|
|
|
|
#ifdef WITH_OCTOMAP_ROS
|
|
#include <octomap_msgs/GetOctomap.h>
|
|
#endif
|
|
|
|
#include <actionlib/client/simple_action_client.h>
|
|
#include <move_base_msgs/MoveBaseAction.h>
|
|
#include <move_base_msgs/MoveBaseActionGoal.h>
|
|
#include <move_base_msgs/MoveBaseActionResult.h>
|
|
#include <move_base_msgs/MoveBaseActionFeedback.h>
|
|
#include <actionlib_msgs/GoalStatusArray.h>
|
|
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
|
|
|
|
namespace rtabmap {
|
|
class StereoDense;
|
|
}
|
|
|
|
namespace rtabmap_ros {
|
|
|
|
class CoreWrapper : public CommonDataSubscriber, public nodelet::Nodelet
|
|
{
|
|
public:
|
|
CoreWrapper();
|
|
virtual ~CoreWrapper();
|
|
|
|
private:
|
|
|
|
virtual void onInit();
|
|
|
|
bool odomUpdate(const nav_msgs::OdometryConstPtr & odomMsg);
|
|
bool odomTFUpdate(const ros::Time & stamp); // TF odom
|
|
|
|
virtual void commonDepthCallback(
|
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
|
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
|
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
|
|
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
|
|
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
|
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
|
void commonDepthCallbackImpl(
|
|
const std::string & odomFrameId,
|
|
const rtabmap_ros::UserDataConstPtr & userDataMsg,
|
|
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
|
|
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
|
|
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
|
|
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
|
virtual void commonStereoCallback(
|
|
const nav_msgs::OdometryConstPtr & odomMsg,
|
|
const sensor_msgs::ImageConstPtr& leftImageMsg,
|
|
const sensor_msgs::ImageConstPtr& rightImageMsg,
|
|
const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
|
|
const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
|
|
const sensor_msgs::LaserScanConstPtr& scanMsg,
|
|
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
|
|
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
|
|
|
|
void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
|
|
|
|
void userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & dataMsg);
|
|
|
|
void goalCommonCallback(int id, const std::string & label, const rtabmap::Transform & pose, const ros::Time & stamp, double * planningTime = 0);
|
|
void goalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
|
|
void goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg);
|
|
void updateGoal(const ros::Time & stamp);
|
|
|
|
void process(
|
|
const ros::Time & stamp,
|
|
const rtabmap::SensorData & data,
|
|
const rtabmap::Transform & odom = rtabmap::Transform(),
|
|
const std::string & odomFrameId = "",
|
|
float odomRotationalVariance = 1.0,
|
|
float odomTransitionalVariance = 1.0);
|
|
|
|
bool updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool resumeRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool backupDatabaseCallback(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 setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool getMapDataCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
|
|
bool getMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::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);
|
|
bool cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
|
|
bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
|
|
bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
|
|
#ifdef WITH_OCTOMAP_ROS
|
|
bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
|
|
bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
|
|
#endif
|
|
|
|
void loadParameters(const std::string & configFile, rtabmap::ParametersMap & parameters);
|
|
void saveParameters(const std::string & configFile);
|
|
|
|
void publishLoop(double tfDelay, double tfTolerance);
|
|
|
|
void publishStats(const ros::Time & stamp);
|
|
void publishCurrentGoal(const ros::Time & stamp);
|
|
void goalDoneCb(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result);
|
|
void goalActiveCb();
|
|
void goalFeedbackCb(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
|
|
void publishLocalPath(const ros::Time & stamp);
|
|
void publishGlobalPath(const ros::Time & stamp);
|
|
|
|
private:
|
|
rtabmap::Rtabmap rtabmap_;
|
|
bool paused_;
|
|
rtabmap::Transform lastPose_;
|
|
ros::Time lastPoseStamp_;
|
|
bool lastPoseIntermediate_;
|
|
float rotVariance_;
|
|
float transVariance_;
|
|
rtabmap::Transform currentMetricGoal_;
|
|
bool latestNodeWasReached_;
|
|
rtabmap::ParametersMap parameters_;
|
|
|
|
std::string frameId_;
|
|
std::string odomFrameId_;
|
|
std::string mapFrameId_;
|
|
std::string groundTruthFrameId_;
|
|
std::string groundTruthBaseFrameId_;
|
|
std::string configPath_;
|
|
std::string databasePath_;
|
|
float odomDefaultAngVariance_;
|
|
float odomDefaultLinVariance_;
|
|
bool waitForTransform_;
|
|
double waitForTransformDuration_;
|
|
bool useActionForGoal_;
|
|
bool genScan_;
|
|
double genScanMaxDepth_;
|
|
double genScanMinDepth_;
|
|
int scanCloudMaxPoints_;
|
|
int scanCloudNormalK_;
|
|
|
|
rtabmap::Transform mapToOdom_;
|
|
boost::mutex mapToOdomMutex_;
|
|
|
|
MapsManager mapsManager_;
|
|
|
|
ros::Publisher infoPub_;
|
|
ros::Publisher mapDataPub_;
|
|
ros::Publisher mapGraphPub_;
|
|
ros::Publisher labelsPub_;
|
|
|
|
//Planning stuff
|
|
ros::Subscriber goalSub_;
|
|
ros::Subscriber goalNodeSub_;
|
|
ros::Publisher nextMetricGoalPub_;
|
|
ros::Publisher goalReachedPub_;
|
|
ros::Publisher globalPathPub_;
|
|
ros::Publisher localPathPub_;
|
|
|
|
tf2_ros::TransformBroadcaster tfBroadcaster_;
|
|
tf::TransformListener tfListener_;
|
|
|
|
ros::ServiceServer updateSrv_;
|
|
ros::ServiceServer resetSrv_;
|
|
ros::ServiceServer pauseSrv_;
|
|
ros::ServiceServer resumeSrv_;
|
|
ros::ServiceServer triggerNewMapSrv_;
|
|
ros::ServiceServer backupDatabase_;
|
|
ros::ServiceServer setModeLocalizationSrv_;
|
|
ros::ServiceServer setModeMappingSrv_;
|
|
ros::ServiceServer setLogDebugSrv_;
|
|
ros::ServiceServer setLogInfoSrv_;
|
|
ros::ServiceServer setLogWarnSrv_;
|
|
ros::ServiceServer setLogErrorSrv_;
|
|
ros::ServiceServer getMapDataSrv_;
|
|
ros::ServiceServer getProjMapSrv_;
|
|
ros::ServiceServer getMapSrv_;
|
|
ros::ServiceServer getGridMapSrv_;
|
|
ros::ServiceServer publishMapDataSrv_;
|
|
ros::ServiceServer setGoalSrv_;
|
|
ros::ServiceServer cancelGoalSrv_;
|
|
ros::ServiceServer setLabelSrv_;
|
|
ros::ServiceServer listLabelsSrv_;
|
|
#ifdef WITH_OCTOMAP_ROS
|
|
ros::ServiceServer octomapBinarySrv_;
|
|
ros::ServiceServer octomapFullSrv_;
|
|
#endif
|
|
|
|
MoveBaseClient mbClient_;
|
|
|
|
boost::thread* transformThread_;
|
|
bool tfThreadRunning_;
|
|
|
|
// for loop closure detection only
|
|
image_transport::Subscriber defaultSub_;
|
|
|
|
ros::Subscriber userDataAsyncSub_;
|
|
cv::Mat userData_;
|
|
|
|
bool stereoToDepth_;
|
|
bool odomSensorSync_;
|
|
float rate_;
|
|
bool createIntermediateNodes_;
|
|
ros::Time time_;
|
|
ros::Time previousStamp_;
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* COREWRAPPER_H_ */
|
|
|