mirror of
https://github.com/introlab/rtabmap_ros.git
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104 lines
3.6 KiB
C++
104 lines
3.6 KiB
C++
/*
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Copyright (c) 2010-2024, 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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#include <rtabmap_util/visibility.h>
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#include "rclcpp/rclcpp.hpp"
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#include <rtabmap_msgs/srv/get_map.hpp>
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#include "rtabmap_msgs/msg/map_data.hpp"
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#include "rtabmap_util/MapsManager.h"
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#include <std_srvs/srv/empty.hpp>
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#ifdef WITH_OCTOMAP_MSGS
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#ifdef RTABMAP_OCTOMAP
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#include <octomap_msgs/srv/get_octomap.hpp>
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#endif
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#endif
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namespace rtabmap_util
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{
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class MapAssembler: public rclcpp::Node
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{
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public:
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RTABMAP_UTIL_PUBLIC
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explicit MapAssembler(const rclcpp::NodeOptions & options);
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virtual ~MapAssembler();
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private:
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void mapDataReceivedCallback(const rtabmap_msgs::msg::MapData::ConstSharedPtr msg);
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void processMapData(const rtabmap_msgs::msg::MapData & msg);
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void reset(const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<std_srvs::srv::Empty::Request>,
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std::shared_ptr<std_srvs::srv::Empty::Response>);
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void timerCallback();
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#ifdef WITH_OCTOMAP_MSGS
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#ifdef RTABMAP_OCTOMAP
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void octomapBinaryCallback(
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<octomap_msgs::srv::GetOctomap::Request>,
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std::shared_ptr<octomap_msgs::srv::GetOctomap::Response> res);
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void octomapFullCallback(
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const std::shared_ptr<rmw_request_id_t>,
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const std::shared_ptr<octomap_msgs::srv::GetOctomap::Request>,
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std::shared_ptr<octomap_msgs::srv::GetOctomap::Response> res);
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#endif
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#endif
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private:
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MapsManager mapsManager_;
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std::map<int, rtabmap::Signature> nodes_;
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std::map<int, rtabmap::Transform> optimizedPoses_;
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std::string mapFrameId_;
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std::string rtabmapNodeName_;
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rclcpp::Subscription<rtabmap_msgs::msg::MapData>::SharedPtr mapDataSub_;
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resetService_;
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rclcpp::CallbackGroup::SharedPtr serviceCbGroup_;
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rclcpp::CallbackGroup::SharedPtr timerCbGroup_;
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rclcpp::TimerBase::SharedPtr timer_;
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rclcpp::Client<rtabmap_msgs::srv::GetMap>::SharedPtr client_;
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#ifdef WITH_OCTOMAP_MSGS
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#ifdef RTABMAP_OCTOMAP
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rclcpp::Service<octomap_msgs::srv::GetOctomap>::SharedPtr octomapBinarySrv_;
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rclcpp::Service<octomap_msgs::srv::GetOctomap>::SharedPtr octomapFullSrv_;
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#endif
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#endif
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bool localGridsRegenerated_;
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};
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} |