mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-05 01:07:49 +08:00
407 lines
16 KiB
C++
407 lines
16 KiB
C++
/*
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Copyright (c) 2010-2014, 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 COREWRAPPER_H_
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#define COREWRAPPER_H_
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#include <ros/ros.h>
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#include <std_srvs/Empty.h>
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#include <tf/transform_listener.h>
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#include <tf2_ros/transform_broadcaster.h>
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#include <std_msgs/Empty.h>
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#include <std_msgs/Int32.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/CameraInfo.h>
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#include <sensor_msgs/LaserScan.h>
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#include <nav_msgs/Odometry.h>
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#include <nav_msgs/GetMap.h>
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#include <rtabmap/core/Parameters.h>
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#include <rtabmap/core/Rtabmap.h>
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#include "rtabmap_ros/GetMap.h"
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#include "rtabmap_ros/ListLabels.h"
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#include "rtabmap_ros/PublishMap.h"
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#include "rtabmap_ros/SetGoal.h"
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#include "rtabmap_ros/SetLabel.h"
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#include "rtabmap_ros/Goal.h"
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#include "MapsManager.h"
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#include <message_filters/subscriber.h>
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#include <message_filters/synchronizer.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/sync_policies/exact_time.h>
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#include <image_transport/image_transport.h>
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#include <image_transport/subscriber_filter.h>
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#ifdef WITH_OCTOMAP
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#include <octomap_msgs/GetOctomap.h>
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#endif
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#include <actionlib/client/simple_action_client.h>
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#include <move_base_msgs/MoveBaseAction.h>
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#include <move_base_msgs/MoveBaseActionGoal.h>
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#include <move_base_msgs/MoveBaseActionResult.h>
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#include <move_base_msgs/MoveBaseActionFeedback.h>
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#include <actionlib_msgs/GoalStatusArray.h>
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typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
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class CoreWrapper
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{
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public:
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CoreWrapper(bool deleteDbOnStart);
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virtual ~CoreWrapper();
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private:
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void setupCallbacks(
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bool subscribeDepth,
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bool subscribeLaserScan,
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bool subscribeStereo,
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int queueSize,
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bool stereoApproxSync,
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int depthCameras);
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void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
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bool commonOdomUpdate(const nav_msgs::OdometryConstPtr & odomMsg);
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bool commonOdomTFUpdate(const ros::Time & stamp); // TF odom
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rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
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void commonDepthCallback(
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const std::string & odomFrameId,
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& depthMsg,
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const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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void commonDepthCallback(
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const std::string & odomFrameId,
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const std::vector<sensor_msgs::ImageConstPtr> & imageMsgs,
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const std::vector<sensor_msgs::ImageConstPtr> & depthMsgs,
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const std::vector<sensor_msgs::CameraInfoConstPtr> & cameraInfoMsgs,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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void commonStereoCallback(
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const std::string & odomFrameId,
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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// with odom msg
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void depthCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depthScanCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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void stereoCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const nav_msgs::OdometryConstPtr & odomMsg);
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void stereoScanCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg,
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const nav_msgs::OdometryConstPtr & odomMsg);
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void depth2Callback(
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const nav_msgs::OdometryConstPtr & odomMsg,
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const sensor_msgs::ImageConstPtr& image1Msg,
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const sensor_msgs::ImageConstPtr& imageDepth1Msg,
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const sensor_msgs::CameraInfoConstPtr& camInfo1Msg,
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const sensor_msgs::ImageConstPtr& image2Msg,
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const sensor_msgs::ImageConstPtr& imageDept2hMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfo2Msg);
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// without odom, when TF is used for odom
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void depthTFCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
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void depthScanTFCallback(
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const sensor_msgs::ImageConstPtr& imageMsg,
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const sensor_msgs::ImageConstPtr& imageDepthMsg,
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const sensor_msgs::CameraInfoConstPtr& camInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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void stereoTFCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg);
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void stereoScanTFCallback(
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const sensor_msgs::ImageConstPtr& leftImageMsg,
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const sensor_msgs::ImageConstPtr& rightImageMsg,
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const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
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const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
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const sensor_msgs::LaserScanConstPtr& scanMsg);
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void goalCommonCallback(int id, const std::string & label, const rtabmap::Transform & pose, const ros::Time & stamp, double * planningTime = 0);
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void goalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
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void goalNodeCallback(const rtabmap_ros::GoalConstPtr & msg);
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void updateGoal(const ros::Time & stamp);
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void process(
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const ros::Time & stamp,
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const rtabmap::SensorData & data,
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const rtabmap::Transform & odom = rtabmap::Transform(),
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const std::string & odomFrameId = "",
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double odomRotationalVariance = 1.0,
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double odomTransitionalVariance = 1.0);
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bool updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool pauseRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool resumeRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool triggerNewMapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
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bool getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
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bool getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
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bool publishMapCallback(rtabmap_ros::PublishMap::Request&, rtabmap_ros::PublishMap::Response&);
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bool setGoalCallback(rtabmap_ros::SetGoal::Request& req, rtabmap_ros::SetGoal::Response& res);
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bool cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
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bool setLabelCallback(rtabmap_ros::SetLabel::Request& req, rtabmap_ros::SetLabel::Response& res);
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bool listLabelsCallback(rtabmap_ros::ListLabels::Request& req, rtabmap_ros::ListLabels::Response& res);
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#ifdef WITH_OCTOMAP
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bool octomapBinaryCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
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bool octomapFullCallback(octomap_msgs::GetOctomap::Request &req, octomap_msgs::GetOctomap::Response &res);
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#endif
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rtabmap::ParametersMap loadParameters(const std::string & configFile);
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void saveParameters(const std::string & configFile);
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void publishLoop(double tfDelay);
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void publishStats(const ros::Time & stamp);
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void publishCurrentGoal(const ros::Time & stamp);
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void goalDoneCb(const actionlib::SimpleClientGoalState& state, const move_base_msgs::MoveBaseResultConstPtr& result);
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void goalActiveCb();
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void goalFeedbackCb(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
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void publishLocalPath(const ros::Time & stamp);
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void publishGlobalPath(const ros::Time & stamp);
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private:
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rtabmap::Rtabmap rtabmap_;
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bool paused_;
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rtabmap::Transform lastPose_;
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ros::Time lastPoseStamp_;
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double rotVariance_;
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double transVariance_;
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rtabmap::Transform currentMetricGoal_;
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bool latestNodeWasReached_;
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rtabmap::ParametersMap parameters_;
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std::string frameId_;
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std::string mapFrameId_;
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std::string odomFrameId_;
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std::string configPath_;
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std::string databasePath_;
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bool waitForTransform_;
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double waitForTransformDuration_;
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bool useActionForGoal_;
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bool genScan_;
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double genScanMaxDepth_;
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rtabmap::Transform mapToOdom_;
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boost::mutex mapToOdomMutex_;
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MapsManager mapsManager_;
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ros::Publisher infoPub_;
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ros::Publisher mapDataPub_;
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ros::Publisher mapGraphPub_;
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ros::Publisher labelsPub_;
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//Planning stuff
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ros::Subscriber goalSub_;
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ros::Subscriber goalNodeSub_;
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ros::Publisher nextMetricGoalPub_;
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ros::Publisher goalReachedPub_;
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ros::Publisher globalPathPub_;
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ros::Publisher localPathPub_;
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// for loop closure detection only
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image_transport::Subscriber defaultSub_;
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//for depth callback
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std::vector<image_transport::SubscriberFilter*> imageSubs_;
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std::vector<image_transport::SubscriberFilter*> imageDepthSubs_;
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std::vector<message_filters::Subscriber<sensor_msgs::CameraInfo>*> cameraInfoSubs_;
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//stereo callback
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image_transport::SubscriberFilter imageRectLeft_;
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image_transport::SubscriberFilter imageRectRight_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
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message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
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message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
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message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::LaserScan> MyDepthScanSyncPolicy;
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message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthSyncPolicy;
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message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo,
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sensor_msgs::LaserScan,
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nav_msgs::Odometry> MyStereoScanSyncPolicy;
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message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo,
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nav_msgs::Odometry> MyStereoApproxSyncPolicy;
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message_filters::Synchronizer<MyStereoApproxSyncPolicy> * stereoApproxSync_;
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typedef message_filters::sync_policies::ExactTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo,
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nav_msgs::Odometry> MyStereoExactSyncPolicy;
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message_filters::Synchronizer<MyStereoExactSyncPolicy> * stereoExactSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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nav_msgs::Odometry,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepth2SyncPolicy;
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message_filters::Synchronizer<MyDepth2SyncPolicy> * depth2Sync_;
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// without odom, when TF is used for odom
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::LaserScan> MyDepthScanTFSyncPolicy;
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message_filters::Synchronizer<MyDepthScanTFSyncPolicy> * depthScanTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo> MyDepthTFSyncPolicy;
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message_filters::Synchronizer<MyDepthTFSyncPolicy> * depthTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo,
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sensor_msgs::LaserScan> MyStereoScanTFSyncPolicy;
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message_filters::Synchronizer<MyStereoScanTFSyncPolicy> * stereoScanTFSync_;
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typedef message_filters::sync_policies::ApproximateTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoApproxTFSyncPolicy;
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message_filters::Synchronizer<MyStereoApproxTFSyncPolicy> * stereoApproxTFSync_;
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typedef message_filters::sync_policies::ExactTime<
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sensor_msgs::Image,
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sensor_msgs::Image,
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sensor_msgs::CameraInfo,
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sensor_msgs::CameraInfo> MyStereoExactTFSyncPolicy;
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message_filters::Synchronizer<MyStereoExactTFSyncPolicy> * stereoExactTFSync_;
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tf2_ros::TransformBroadcaster tfBroadcaster_;
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tf::TransformListener tfListener_;
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ros::ServiceServer updateSrv_;
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ros::ServiceServer resetSrv_;
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ros::ServiceServer pauseSrv_;
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ros::ServiceServer resumeSrv_;
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ros::ServiceServer triggerNewMapSrv_;
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ros::ServiceServer backupDatabase_;
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ros::ServiceServer setModeLocalizationSrv_;
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ros::ServiceServer setModeMappingSrv_;
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ros::ServiceServer setLogDebugSrv_;
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ros::ServiceServer setLogInfoSrv_;
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ros::ServiceServer setLogWarnSrv_;
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ros::ServiceServer setLogErrorSrv_;
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ros::ServiceServer getMapDataSrv_;
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ros::ServiceServer getProjMapSrv_;
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ros::ServiceServer getGridMapSrv_;
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ros::ServiceServer publishMapDataSrv_;
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ros::ServiceServer setGoalSrv_;
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ros::ServiceServer cancelGoalSrv_;
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ros::ServiceServer setLabelSrv_;
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ros::ServiceServer listLabelsSrv_;
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#ifdef WITH_OCTOMAP
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ros::ServiceServer octomapBinarySrv_;
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ros::ServiceServer octomapFullSrv_;
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#endif
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MoveBaseClient mbClient_;
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boost::thread* transformThread_;
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float rate_;
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ros::Time time_;
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};
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#endif /* COREWRAPPER_H_ */
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