mirror of
https://github.com/introlab/rtabmap_ros.git
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167 lines
7.1 KiB
C++
167 lines
7.1 KiB
C++
/*
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Copyright (c) 2010-2016, 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 "rclcpp/rclcpp.hpp"
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#include <tf2_ros/transform_broadcaster.h>
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#include <tf2_ros/buffer.h>
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#include <tf2_ros/transform_listener.h>
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#include <std_srvs/srv/empty.hpp>
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#include <std_msgs/msg/header.hpp>
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#include <nav_msgs/msg/odometry.hpp>
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#include <sensor_msgs/msg/imu.hpp>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <rtabmap_ros/msg/odom_info.hpp>
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#include <rtabmap_ros/msg/rgbd_image.hpp>
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#include <rtabmap_ros/srv/reset_pose.hpp>
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#include <rtabmap/core/SensorData.h>
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#include <rtabmap/core/Parameters.h>
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#include <boost/thread.hpp>
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namespace rtabmap {
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class Odometry;
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}
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namespace rtabmap_ros {
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class OdometryROS : public rclcpp::Node
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{
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public:
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explicit OdometryROS(const rclcpp::NodeOptions & options);
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explicit OdometryROS(const std::string & name, const rclcpp::NodeOptions & options);
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virtual ~OdometryROS();
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void processData(rtabmap::SensorData & data, const std_msgs::msg::Header & header);
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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>);
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void resetToPose(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<rtabmap_ros::srv::ResetPose::Request>, std::shared_ptr<rtabmap_ros::srv::ResetPose::Response>);
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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>);
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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>);
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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>);
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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>);
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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>);
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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>);
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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 rtabmap::ParametersMap & parameters() const {return parameters_;}
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bool isPaused() const {return paused_;}
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protected:
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void init(bool stereoParams, bool visParams, bool icpParams);
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void startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync);
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void callbackCalled() {callbackCalled_ = true;}
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rmw_qos_reliability_policy_t qos() const {return qos_;}
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virtual void flushCallbacks() {};
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tf2_ros::Buffer & tfBuffer() {return *tfBuffer_;}
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const double & waitForTransform() const {return waitForTransform_;}
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virtual void postProcessData(const rtabmap::SensorData & /*data*/, const std_msgs::msg::Header & /*header*/) const {}
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private:
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void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync);
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virtual void updateParameters(rtabmap::ParametersMap &) {}
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virtual void onOdomInit() {}
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void callbackIMU(const sensor_msgs::msg::Imu::SharedPtr msg);
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void reset(const rtabmap::Transform & pose = rtabmap::Transform::getIdentity());
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private:
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rtabmap::Odometry * odometry_;
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std::thread * warningThread_;
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std::string subscribedTopicsMsg_;
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bool callbackCalled_;
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// parameters
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std::string frameId_;
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std::string odomFrameId_;
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std::string groundTruthFrameId_;
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std::string groundTruthBaseFrameId_;
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std::string guessFrameId_;
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double guessMinTranslation_;
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double guessMinRotation_;
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double guessMinTime_;
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bool publishTf_;
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double waitForTransform_;
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bool publishNullWhenLost_;
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rmw_qos_reliability_policy_t qos_;
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rtabmap::ParametersMap parameters_;
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rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odomPub_;
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rclcpp::Publisher<rtabmap_ros::msg::OdomInfo>::SharedPtr odomInfoPub_;
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rclcpp::Publisher<rtabmap_ros::msg::OdomInfo>::SharedPtr odomInfoLitePub_;
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rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLocalMap_;
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rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLocalScanMap_;
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rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr odomLastFrame_;
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rclcpp::Publisher<rtabmap_ros::msg::RGBDImage>::SharedPtr odomRgbdImagePub_;
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resetSrv_;
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rclcpp::Service<rtabmap_ros::srv::ResetPose>::SharedPtr resetToPoseSrv_;
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr pauseSrv_;
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resumeSrv_;
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr setLogDebugSrv_;
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr setLogInfoSrv_;
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr setLogWarnSrv_;
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr setLogErrorSrv_;
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std::shared_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster_;
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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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rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imuSub_;
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bool paused_;
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int resetCountdown_;
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int resetCurrentCount_;
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bool stereoParams_;
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bool visParams_;
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bool icpParams_;
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rtabmap::Transform guess_;
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rtabmap::Transform guessPreviousPose_;
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double previousStamp_;
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double expectedUpdateRate_;
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double maxUpdateRate_;
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int odomStrategy_;
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bool waitIMUToinit_;
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bool imuProcessed_;
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std::map<double, rtabmap::IMU> imus_;
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std::pair<rtabmap::SensorData, std_msgs::msg::Header > bufferedData_;
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std::string configPath_;
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rtabmap::Transform initialPose_;
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};
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}
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#endif
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