LocalObstaclesNode Class Reference

Classes
struct	TAuxInitializer
struct	TInfoPerTimeStep

Public Member Functions
	LocalObstaclesNode (int argc, char **argv)

Private Types
typedef std::multimap< double, TInfoPerTimeStep >	TListObservations

Private Member Functions
void	onDoPublish (const ros::TimerEvent &)
void	onNewSensor_Laser2D (const sensor_msgs::LaserScanConstPtr &scan)
void	onNewSensor_PointCloud (const sensor_msgs::PointCloud2::ConstPtr &pts)
template<typename CALLBACK_METHOD_TYPE >
size_t	subscribeToMultipleTopics (const std::string &lstTopics, std::vector< ros::Subscriber > &subs, CALLBACK_METHOD_TYPE cb)
	Subscribe to a variable number of topics. More...

Private Attributes
TAuxInitializer	m_auxinit
	Just to make sure ROS is init first. More...
std::string	m_filter_output_layer_name
	mp2p_icp output layer name More...
mp2p_icp_filters::FilterPipeline	m_filter_pipeline
std::string	m_frameid_reference = "odom"
std::string	m_frameid_robot = "base_link"
mrpt::gui::CDisplayWindow3D::Ptr	m_gui_win
TListObservations	m_hist_obs
boost::mutex	m_hist_obs_mtx
	the interest time window. More...
CSimplePointsMap::Ptr	m_localmap_pts = CSimplePointsMap::Create()
ros::NodeHandle	m_localn
	"~" More...
ros::NodeHandle	m_nh
	The node handle. More...
CTimeLogger	m_profiler
double	m_publish_period = 0.05
	[s] More...
bool	m_show_gui = true
std::string	m_source_topics_2dscan = "scan,laser1"
std::string	m_source_topics_pointclouds = ""
double	m_time_window = 0.20
	[s]can't be smaller than m_publish_period More...
ros::Timer	m_timer_publish
std::string	m_topic_local_map_pointcloud = "local_map_pointcloud"
ROS pubs/subs
ros::Publisher	m_pub_local_map_pointcloud
	Subscriber to 2D laser scans. More...
std::vector< ros::Subscriber >	m_subs_2dlaser
	Subscriber to point cloud sensors. More...
std::vector< ros::Subscriber >	m_subs_pointclouds
tf2_ros::Buffer	m_tf_buffer
tf2_ros::TransformListener	m_tf_listener {m_tf_buffer}

Detailed Description

Definition at line 66 of file mrpt_local_obstacles_node.cpp.

Member Typedef Documentation

TListObservations

typedef std::multimap<double, TInfoPerTimeStep> LocalObstaclesNode::TListObservations

private

Definition at line 104 of file mrpt_local_obstacles_node.cpp.

Constructor & Destructor Documentation

LocalObstaclesNode()

LocalObstaclesNode::LocalObstaclesNode ( int  argc, char **  argv  )

inline

Constructor: Inits ROS system

Definition at line 530 of file mrpt_local_obstacles_node.cpp.

Member Function Documentation

onDoPublish()

void LocalObstaclesNode::onDoPublish ( const ros::TimerEvent &  )

inlineprivate

Callback: On recalc local map & publish it

Definition at line 346 of file mrpt_local_obstacles_node.cpp.

onNewSensor_Laser2D()

void LocalObstaclesNode::onNewSensor_Laser2D ( const sensor_msgs::LaserScanConstPtr &  scan )

inlineprivate

Callback: On new sensor data

Definition at line 157 of file mrpt_local_obstacles_node.cpp.

onNewSensor_PointCloud()

void LocalObstaclesNode::onNewSensor_PointCloud ( const sensor_msgs::PointCloud2::ConstPtr &  pts )

inlineprivate

Callback: On new sensor data

Definition at line 251 of file mrpt_local_obstacles_node.cpp.

subscribeToMultipleTopics()

template<typename CALLBACK_METHOD_TYPE >

size_t LocalObstaclesNode::subscribeToMultipleTopics ( const std::string &  lstTopics, std::vector< ros::Subscriber > &  subs, CALLBACK_METHOD_TYPE  cb  )

inlineprivate

Subscribe to a variable number of topics.

Parameters

lstTopics	String with list of topics separated with ","
subs[in,out]	List of subscribers will be here at return.

Returns

The number of topics subscribed to.

Definition at line 143 of file mrpt_local_obstacles_node.cpp.

Member Data Documentation

m_auxinit

TAuxInitializer LocalObstaclesNode::m_auxinit

private

Just to make sure ROS is init first.

Definition at line 79 of file mrpt_local_obstacles_node.cpp.

m_filter_output_layer_name

std::string LocalObstaclesNode::m_filter_output_layer_name

private

mp2p_icp output layer name

Definition at line 117 of file mrpt_local_obstacles_node.cpp.

m_filter_pipeline

mp2p_icp_filters::FilterPipeline LocalObstaclesNode::m_filter_pipeline

private

Used for example to run voxel grid decimation, etc. Refer to mp2p_icp docs

Definition at line 115 of file mrpt_local_obstacles_node.cpp.

m_frameid_reference

std::string LocalObstaclesNode::m_frameid_reference = "odom"

private

Definition at line 85 of file mrpt_local_obstacles_node.cpp.

m_frameid_robot

std::string LocalObstaclesNode::m_frameid_robot = "base_link"

private

Definition at line 86 of file mrpt_local_obstacles_node.cpp.

m_gui_win

mrpt::gui::CDisplayWindow3D::Ptr LocalObstaclesNode::m_gui_win

private

Definition at line 119 of file mrpt_local_obstacles_node.cpp.

m_hist_obs

TListObservations LocalObstaclesNode::m_hist_obs

private

The history of past observations during

Definition at line 105 of file mrpt_local_obstacles_node.cpp.

m_hist_obs_mtx

boost::mutex LocalObstaclesNode::m_hist_obs_mtx

private

the interest time window.

Definition at line 107 of file mrpt_local_obstacles_node.cpp.

m_localmap_pts

CSimplePointsMap::Ptr LocalObstaclesNode::m_localmap_pts = CSimplePointsMap::Create()

private

The local maps

Definition at line 110 of file mrpt_local_obstacles_node.cpp.

m_localn

ros::NodeHandle LocalObstaclesNode::m_localn

private

"~"

Definition at line 81 of file mrpt_local_obstacles_node.cpp.

m_nh

ros::NodeHandle LocalObstaclesNode::m_nh

private

The node handle.

Definition at line 80 of file mrpt_local_obstacles_node.cpp.

m_profiler

CTimeLogger LocalObstaclesNode::m_profiler

private

Definition at line 77 of file mrpt_local_obstacles_node.cpp.

m_pub_local_map_pointcloud

ros::Publisher LocalObstaclesNode::m_pub_local_map_pointcloud

private

Subscriber to 2D laser scans.

Definition at line 123 of file mrpt_local_obstacles_node.cpp.

m_publish_period

double LocalObstaclesNode::m_publish_period = 0.05

private

[s]

Definition at line 94 of file mrpt_local_obstacles_node.cpp.

m_show_gui

bool LocalObstaclesNode::m_show_gui = true

private

Definition at line 83 of file mrpt_local_obstacles_node.cpp.

m_source_topics_2dscan

std::string LocalObstaclesNode::m_source_topics_2dscan = "scan,laser1"

private

Definition at line 90 of file mrpt_local_obstacles_node.cpp.

m_source_topics_pointclouds

std::string LocalObstaclesNode::m_source_topics_pointclouds = ""

private

Definition at line 91 of file mrpt_local_obstacles_node.cpp.

m_subs_2dlaser

std::vector<ros::Subscriber> LocalObstaclesNode::m_subs_2dlaser

private

Subscriber to point cloud sensors.

Definition at line 126 of file mrpt_local_obstacles_node.cpp.

m_subs_pointclouds

std::vector<ros::Subscriber> LocalObstaclesNode::m_subs_pointclouds

private

Definition at line 129 of file mrpt_local_obstacles_node.cpp.

m_tf_buffer

tf2_ros::Buffer LocalObstaclesNode::m_tf_buffer

private

Definition at line 131 of file mrpt_local_obstacles_node.cpp.

m_tf_listener

tf2_ros::TransformListener LocalObstaclesNode::m_tf_listener {m_tf_buffer}

private

Definition at line 132 of file mrpt_local_obstacles_node.cpp.

m_time_window

double LocalObstaclesNode::m_time_window = 0.20

private

[s]can't be smaller than m_publish_period

Definition at line 93 of file mrpt_local_obstacles_node.cpp.

m_timer_publish

ros::Timer LocalObstaclesNode::m_timer_publish

private

Definition at line 96 of file mrpt_local_obstacles_node.cpp.

m_topic_local_map_pointcloud

std::string LocalObstaclesNode::m_topic_local_map_pointcloud = "local_map_pointcloud"

private

Definition at line 88 of file mrpt_local_obstacles_node.cpp.

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The documentation for this class was generated from the following file:

• mrpt_local_obstacles_node.cpp