mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
213 lines
8.6 KiB
C++
213 lines
8.6 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 "rclcpp/rclcpp.hpp"
|
|
|
|
#include <tf2_ros/transform_broadcaster.h>
|
|
#include <tf2_ros/buffer.h>
|
|
#include <tf2_ros/transform_listener.h>
|
|
|
|
#include <diagnostic_updater/diagnostic_updater.hpp>
|
|
|
|
#include <std_srvs/srv/empty.hpp>
|
|
#include <std_msgs/msg/header.hpp>
|
|
#include <nav_msgs/msg/odometry.hpp>
|
|
#include <sensor_msgs/msg/imu.hpp>
|
|
#include <sensor_msgs/msg/point_cloud2.hpp>
|
|
|
|
#include <rtabmap_msgs/msg/odom_info.hpp>
|
|
#include <rtabmap_msgs/msg/rgbd_image.hpp>
|
|
#include <rtabmap_msgs/srv/reset_pose.hpp>
|
|
#include <rtabmap/core/SensorData.h>
|
|
#include <rtabmap/core/Parameters.h>
|
|
#include <rtabmap/utilite/UThread.h>
|
|
|
|
#include <boost/thread.hpp>
|
|
|
|
#include "rtabmap_util/ULogToRosout.h"
|
|
#include "rtabmap_sync/SyncDiagnostic.h"
|
|
|
|
namespace rtabmap {
|
|
class Odometry;
|
|
}
|
|
|
|
namespace rtabmap_odom {
|
|
|
|
class OdometryROS : public rclcpp::Node, public UThread
|
|
{
|
|
|
|
public:
|
|
explicit OdometryROS(const rclcpp::NodeOptions & options);
|
|
explicit OdometryROS(const std::string & name, const rclcpp::NodeOptions & options);
|
|
virtual ~OdometryROS();
|
|
|
|
void processData(rtabmap::SensorData & data, const std_msgs::msg::Header & header);
|
|
|
|
void resetOdom(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 resetToPose(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<rtabmap_msgs::srv::ResetPose::Request>, std::shared_ptr<rtabmap_msgs::srv::ResetPose::Response>);
|
|
void pause(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 resume(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 setLogDebug(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 setLogInfo(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 setLogWarn(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 setLogError(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>);
|
|
|
|
const std::string & frameId() const {return frameId_;}
|
|
const std::string & odomFrameId() const {return odomFrameId_;}
|
|
const std::string & guessFrameId() const {return guessFrameId_;}
|
|
const rtabmap::ParametersMap & parameters() const {return parameters_;}
|
|
bool isPaused() const {return paused_;}
|
|
|
|
protected:
|
|
void init(bool stereoParams, bool visParams, bool icpParams);
|
|
rmw_qos_reliability_policy_t qos() const {return qos_;}
|
|
void initDiagnosticMsg(const std::string & subscribedTopicsMsg, bool approxSync, const std::string & subscribedTopic = "");
|
|
|
|
virtual void flushCallbacks() {};
|
|
tf2_ros::Buffer & tfBuffer() {return *tfBuffer_;}
|
|
const double & waitForTransform() const {return waitForTransform_;}
|
|
rtabmap::Transform velocityGuess() const;
|
|
double previousStamp() const {return previousStamp_;}
|
|
virtual void postProcessData(const rtabmap::SensorData & /*data*/, const std_msgs::msg::Header & /*header*/) const {}
|
|
|
|
private:
|
|
|
|
virtual void mainLoop();
|
|
virtual void mainLoopKill();
|
|
virtual void updateParameters(rtabmap::ParametersMap &) {}
|
|
virtual void onOdomInit() {}
|
|
|
|
void callbackIMU(const sensor_msgs::msg::Imu::SharedPtr msg);
|
|
void reset(const rtabmap::Transform & pose = rtabmap::Transform::getIdentity());
|
|
|
|
protected:
|
|
rclcpp::CallbackGroup::SharedPtr dataCallbackGroup_;
|
|
void tick(const rclcpp::Time & stamp);
|
|
|
|
private:
|
|
rtabmap::Odometry * odometry_;
|
|
|
|
// parameters
|
|
std::string frameId_;
|
|
std::string odomFrameId_;
|
|
std::string groundTruthFrameId_;
|
|
std::string groundTruthBaseFrameId_;
|
|
std::string guessFrameId_;
|
|
double guessMinTranslation_;
|
|
double guessMinRotation_;
|
|
double guessMinTime_;
|
|
bool publishTf_;
|
|
double waitForTransform_;
|
|
bool publishNullWhenLost_;
|
|
bool publishCompressedSensorData_;
|
|
rmw_qos_reliability_policy_t qos_;
|
|
rtabmap::ParametersMap parameters_;
|
|
|
|
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odomPub_;
|
|
rclcpp::Publisher<rtabmap_msgs::msg::OdomInfo>::SharedPtr odomInfoPub_;
|
|
rclcpp::Publisher<rtabmap_msgs::msg::OdomInfo>::SharedPtr odomInfoLitePub_;
|
|
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLocalMap_;
|
|
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLocalScanMap_;
|
|
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLastFrame_;
|
|
rclcpp::Publisher<rtabmap_msgs::msg::RGBDImage>::SharedPtr odomRgbdImagePub_;
|
|
rclcpp::Publisher<rtabmap_msgs::msg::SensorData>::SharedPtr odomSensorDataPub_;
|
|
rclcpp::Publisher<rtabmap_msgs::msg::SensorData>::SharedPtr odomSensorDataFeaturesPub_;
|
|
rclcpp::Publisher<rtabmap_msgs::msg::SensorData>::SharedPtr odomSensorDataCompressedPub_;
|
|
|
|
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resetSrv_;
|
|
rclcpp::Service<rtabmap_msgs::srv::ResetPose>::SharedPtr resetToPoseSrv_;
|
|
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr pauseSrv_;
|
|
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resumeSrv_;
|
|
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr setLogDebugSrv_;
|
|
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr setLogInfoSrv_;
|
|
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr setLogWarnSrv_;
|
|
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr setLogErrorSrv_;
|
|
|
|
std::shared_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_;
|
|
std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
|
|
std::shared_ptr<tf2_ros::TransformListener> tfListener_;
|
|
rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imuSub_;
|
|
rclcpp::CallbackGroup::SharedPtr imuCallbackGroup_;
|
|
|
|
// Safe-threading
|
|
UMutex imuMutex_;
|
|
UMutex dataMutex_;
|
|
USemaphore dataReady_;
|
|
rtabmap::SensorData dataToProcess_;
|
|
std_msgs::msg::Header dataHeaderToProcess_;
|
|
bool bufferedDataToProcess_;
|
|
|
|
bool paused_;
|
|
int resetCountdown_;
|
|
int resetCurrentCount_;
|
|
bool stereoParams_;
|
|
bool visParams_;
|
|
bool icpParams_;
|
|
rtabmap::Transform guess_;
|
|
rtabmap::Transform guessPreviousPose_;
|
|
double previousStamp_;
|
|
double expectedUpdateRate_;
|
|
double maxUpdateRate_;
|
|
double minUpdateRate_;
|
|
std::string compressionImgFormat_;
|
|
bool compressionParallelized_;
|
|
int odomStrategy_;
|
|
bool waitIMUToinit_;
|
|
bool alwaysCheckImuTf_;
|
|
bool imuProcessed_;
|
|
int processedMsgs_;
|
|
int droppedMsgs_;
|
|
std::map<double, sensor_msgs::msg::Imu::ConstSharedPtr> imus_;
|
|
std::string configPath_;
|
|
rtabmap::Transform initialPose_;
|
|
rtabmap::Transform imuLocalTransform_;
|
|
|
|
rtabmap_util::ULogToRosout ulogToRosout_;
|
|
|
|
class OdomStatusTask : public diagnostic_updater::DiagnosticTask
|
|
{
|
|
public:
|
|
OdomStatusTask();
|
|
void setStatus(bool isLost, int processedMsgs, int droppedMsgs);
|
|
void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
|
|
private:
|
|
bool lost_;
|
|
bool dataReceived_;
|
|
int processedMsgs_;
|
|
int droppedMsgs_;
|
|
};
|
|
OdomStatusTask statusDiagnostic_;
|
|
std::unique_ptr<rtabmap_sync::SyncDiagnostic> syncDiagnostic_;
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|