mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
135 lines
4.6 KiB
C++
135 lines
4.6 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 ODOMETRYROS_H_
|
|
#define ODOMETRYROS_H_
|
|
|
|
#include <ros/ros.h>
|
|
#include <nodelet/nodelet.h>
|
|
|
|
#include <tf2_ros/transform_broadcaster.h>
|
|
#include <tf/transform_listener.h>
|
|
|
|
#include <std_srvs/Empty.h>
|
|
#include <std_msgs/Header.h>
|
|
|
|
#include <rtabmap_ros/ResetPose.h>
|
|
#include <rtabmap/core/SensorData.h>
|
|
#include <rtabmap/core/Parameters.h>
|
|
|
|
#include <boost/thread.hpp>
|
|
|
|
namespace rtabmap {
|
|
class Odometry;
|
|
}
|
|
|
|
namespace rtabmap_ros {
|
|
|
|
class OdometryROS : public nodelet::Nodelet
|
|
{
|
|
|
|
public:
|
|
OdometryROS(bool stereoParams, bool visParams, bool icpParams);
|
|
virtual ~OdometryROS();
|
|
|
|
void processData(const rtabmap::SensorData & data, const ros::Time & stamp);
|
|
|
|
bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
|
|
bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
|
|
bool resume(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&);
|
|
|
|
const std::string & frameId() const {return frameId_;}
|
|
const std::string & odomFrameId() const {return odomFrameId_;}
|
|
const rtabmap::ParametersMap & parameters() const {return parameters_;}
|
|
bool isPaused() const {return paused_;}
|
|
rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
|
|
|
|
protected:
|
|
void startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync);
|
|
void callbackCalled() {callbackCalled_ = true;}
|
|
|
|
virtual void flushCallbacks() = 0;
|
|
tf::TransformListener & tfListener() {return tfListener_;}
|
|
|
|
private:
|
|
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync);
|
|
virtual void onInit();
|
|
virtual void onOdomInit() = 0;
|
|
virtual void updateParameters(rtabmap::ParametersMap & parameters) {}
|
|
|
|
private:
|
|
rtabmap::Odometry * odometry_;
|
|
boost::thread * warningThread_;
|
|
bool callbackCalled_;
|
|
|
|
// parameters
|
|
std::string frameId_;
|
|
std::string odomFrameId_;
|
|
std::string groundTruthFrameId_;
|
|
std::string groundTruthBaseFrameId_;
|
|
std::string guessFrameId_;
|
|
double guessMinTranslation_;
|
|
double guessMinRotation_;
|
|
bool publishTf_;
|
|
bool waitForTransform_;
|
|
double waitForTransformDuration_;
|
|
bool publishNullWhenLost_;
|
|
rtabmap::ParametersMap parameters_;
|
|
|
|
ros::Publisher odomPub_;
|
|
ros::Publisher odomInfoPub_;
|
|
ros::Publisher odomLocalMap_;
|
|
ros::Publisher odomLocalScanMap_;
|
|
ros::Publisher odomLastFrame_;
|
|
ros::ServiceServer resetSrv_;
|
|
ros::ServiceServer resetToPoseSrv_;
|
|
ros::ServiceServer pauseSrv_;
|
|
ros::ServiceServer resumeSrv_;
|
|
ros::ServiceServer setLogDebugSrv_;
|
|
ros::ServiceServer setLogInfoSrv_;
|
|
ros::ServiceServer setLogWarnSrv_;
|
|
ros::ServiceServer setLogErrorSrv_;
|
|
tf2_ros::TransformBroadcaster tfBroadcaster_;
|
|
tf::TransformListener tfListener_;
|
|
|
|
bool paused_;
|
|
int resetCountdown_;
|
|
int resetCurrentCount_;
|
|
bool stereoParams_;
|
|
bool visParams_;
|
|
bool icpParams_;
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|