mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-11 20:19:50 +08:00
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
109 lines
3.8 KiB
C++
109 lines
3.8 KiB
C++
/*
|
|
Copyright (c) 2010-2024, 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.
|
|
*/
|
|
|
|
#include <rtabmap_util/visibility.h>
|
|
#include "rclcpp/rclcpp.hpp"
|
|
|
|
#include <rtabmap_msgs/srv/get_map.hpp>
|
|
#include "rtabmap_msgs/msg/map_data.hpp"
|
|
#include "rtabmap_util/MapsManager.h"
|
|
|
|
#include <std_srvs/srv/empty.hpp>
|
|
|
|
#ifdef WITH_OCTOMAP_MSGS
|
|
#ifdef RTABMAP_OCTOMAP
|
|
#include <octomap_msgs/srv/get_octomap.hpp>
|
|
#endif
|
|
#endif
|
|
|
|
namespace rtabmap_util
|
|
{
|
|
|
|
class MapAssembler: public rclcpp::Node
|
|
{
|
|
|
|
public:
|
|
RTABMAP_UTIL_PUBLIC
|
|
explicit MapAssembler(const rclcpp::NodeOptions & options);
|
|
virtual ~MapAssembler();
|
|
|
|
private:
|
|
void mapDataReceivedCallback(const rtabmap_msgs::msg::MapData::ConstSharedPtr msg);
|
|
|
|
void processMapData(const rtabmap_msgs::msg::MapData & msg);
|
|
|
|
void reset(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 timerCallback();
|
|
|
|
/// Subscribes to "mapData"; the node is live from here on.
|
|
void subscribeToMapData();
|
|
|
|
#ifdef WITH_OCTOMAP_MSGS
|
|
#ifdef RTABMAP_OCTOMAP
|
|
void octomapBinaryCallback(
|
|
const std::shared_ptr<rmw_request_id_t>,
|
|
const std::shared_ptr<octomap_msgs::srv::GetOctomap::Request>,
|
|
std::shared_ptr<octomap_msgs::srv::GetOctomap::Response> res);
|
|
|
|
void octomapFullCallback(
|
|
const std::shared_ptr<rmw_request_id_t>,
|
|
const std::shared_ptr<octomap_msgs::srv::GetOctomap::Request>,
|
|
std::shared_ptr<octomap_msgs::srv::GetOctomap::Response> res);
|
|
#endif
|
|
#endif
|
|
|
|
private:
|
|
MapsManager mapsManager_;
|
|
std::map<int, rtabmap::Signature> nodes_;
|
|
int lastNodeAdded_;
|
|
std::map<int, rtabmap::Transform> optimizedPoses_;
|
|
std::string mapFrameId_;
|
|
std::string rtabmapNodeName_;
|
|
|
|
rclcpp::Subscription<rtabmap_msgs::msg::MapData>::SharedPtr mapDataSub_;
|
|
|
|
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr resetService_;
|
|
|
|
rclcpp::CallbackGroup::SharedPtr serviceCbGroup_;
|
|
rclcpp::CallbackGroup::SharedPtr timerCbGroup_;
|
|
rclcpp::TimerBase::SharedPtr timer_;
|
|
rclcpp::Client<rtabmap_msgs::srv::GetMap>::SharedPtr client_;
|
|
|
|
#ifdef WITH_OCTOMAP_MSGS
|
|
#ifdef RTABMAP_OCTOMAP
|
|
rclcpp::Service<octomap_msgs::srv::GetOctomap>::SharedPtr octomapBinarySrv_;
|
|
rclcpp::Service<octomap_msgs::srv::GetOctomap>::SharedPtr octomapFullSrv_;
|
|
#endif
|
|
#endif
|
|
bool localGridsRegenerated_;
|
|
double initializeFromRtabmapTimeout_;
|
|
};
|
|
|
|
} |