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https://github.com/introlab/rtabmap_ros.git
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matlabbe
61edb4ee85
* Initial tests * more tests * More in-depth deskew() testing * slightly less verbose clamping corruption warning * added tf buffer related tests * added remaining tests * Added rosdoc2, improve tests when we require sync of odom stamp and sensor stamp * cleanup doc * fixing ci * rtabmap_util tests and doc * Added db_player tests * Added MapsManager tests * Added map_assembler tests * Documenting node first draft * relative links * Fixed british->usa english style. Reviewed all md files. * added link to install ros1 * updated badges * added Iron * added ubuntu * added codecov * updated coverage ci * fixing rosdep * updated ci cov job * ci bump * fixing cov ci * small doc cleanup
116 lines
4.5 KiB
C++
116 lines
4.5 KiB
C++
/*
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Copyright (c) 2010-2019, 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 <tf2_ros/buffer.hpp>
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#include <tf2_ros/transform_listener.hpp>
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#include <nav_msgs/msg/odometry.hpp>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <message_filters/subscriber.hpp>
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#include <message_filters/sync_policies/exact_time.hpp>
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#include <rtabmap_conversions/MsgConversion.h>
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#include <rtabmap/core/util3d.h>
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#include <rtabmap/core/util3d_filtering.h>
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#include <rtabmap_sync/SyncDiagnostic.h>
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namespace rtabmap_util
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{
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/**
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* This nodelet can assemble a number of clouds (max_clouds) coming
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* from the same sensor, taking into account the displacement of the robot based on
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* fixed_frame_id, then publish the resulting cloud.
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* If fixed_frame_id is set to "" (empty), the nodelet will subscribe to
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* an odom topic that should have the exact same stamp than to input cloud.
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* The output cloud has the same stamp and frame than the last assembled cloud.
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*/
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class PointCloudAssembler : public rclcpp::Node
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{
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public:
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RTABMAP_UTIL_PUBLIC
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explicit PointCloudAssembler(const rclcpp::NodeOptions & options);
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virtual ~PointCloudAssembler();
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private:
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void callbackCloudOdomInfo(
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg,
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg,
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const rtabmap_msgs::msg::OdomInfo::ConstSharedPtr odomInfoMsg);
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void callbackCloudOdom(
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const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg,
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const nav_msgs::msg::Odometry::ConstSharedPtr odomMsg);
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void callbackCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg);
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private:
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std::unique_ptr<rtabmap_sync::SyncDiagnostic> syncDiagnostic_;
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rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr cloudSub_;
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rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr cloudPub_;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::PointCloud2, nav_msgs::msg::Odometry> syncPolicy;
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typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::PointCloud2, nav_msgs::msg::Odometry, rtabmap_msgs::msg::OdomInfo> syncInfoPolicy;
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message_filters::Synchronizer<syncPolicy>* exactSync_;
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message_filters::Synchronizer<syncInfoPolicy>* exactInfoSync_;
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message_filters::Subscriber<sensor_msgs::msg::PointCloud2> syncCloudSub_;
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message_filters::Subscriber<nav_msgs::msg::Odometry> syncOdomSub_;
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message_filters::Subscriber<rtabmap_msgs::msg::OdomInfo> syncOdomInfoSub_;
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int maxClouds_;
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int skipClouds_;
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int cloudsSkipped_;
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bool circularBuffer_;
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double linearUpdate_;
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double angularUpdate_;
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double assemblingTime_;
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double waitForTransform_;
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double rangeMin_;
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double rangeMax_;
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double voxelSize_;
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double noiseRadius_;
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int noiseMinNeighbors_;
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bool removeZ_;
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std::string fixedFrameId_;
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std::string frameId_;
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std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
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std::shared_ptr<tf2_ros::TransformListener> tfListener_;
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rtabmap::Transform previousPose_;
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std::list<pcl::PCLPointCloud2::Ptr> clouds_;
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std::string subscribedTopicsMsg_;
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};
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}
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