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https://github.com/introlab/rtabmap_ros.git
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93 lines
3.2 KiB
C++
93 lines
3.2 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 ODOMETRYROS_H_
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#define ODOMETRYROS_H_
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#include <ros/ros.h>
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#include <tf/tf.h>
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#include <tf/transform_broadcaster.h>
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#include <tf/transform_listener.h>
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#include <std_srvs/Empty.h>
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#include <std_msgs/Header.h>
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#include <rtabmap_ros/ResetPose.h>
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#include <rtabmap/core/SensorData.h>
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#include <rtabmap/core/Parameters.h>
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namespace rtabmap {
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class Odometry;
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class OdometryROS
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{
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public:
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OdometryROS(int argc, char * argv[]);
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~OdometryROS();
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void processArguments(int argc, char * argv[]);
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Transform processData(SensorData & data, const std_msgs::Header & header, int & quality);
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bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
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bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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const std::string & frameId() const {return frameId_;}
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const std::string & odomFrameId() const {return odomFrameId_;}
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const ParametersMap & parameters() const {return parameters_;}
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const tf::TransformListener & tfListener() const {return tfListener_;}
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bool isPaused() const {return paused_;}
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bool isOdometryBOW() const;
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private:
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rtabmap::Odometry * odometry_;
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// parameters
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std::string frameId_;
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std::string odomFrameId_;
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bool publishTf_;
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ParametersMap parameters_;
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ros::Publisher odomPub_;
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ros::Publisher odomLocalMap_;
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ros::Publisher odomLastFrame_;
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ros::ServiceServer resetSrv_;
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ros::ServiceServer resetToPoseSrv_;
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ros::ServiceServer pauseSrv_;
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ros::ServiceServer resumeSrv_;
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tf::TransformBroadcaster tfBroadcaster_;
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tf::TransformListener tfListener_;
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bool paused_;
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};
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}
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#endif
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