#include <slam_toolbox_localization.hpp>

Inheritance diagram for slam_toolbox::LocalizationSlamToolbox:

Public Member Functions
	LocalizationSlamToolbox (ros::NodeHandle &nh)

	~LocalizationSlamToolbox ()

Public Member Functions inherited from slam_toolbox::SlamToolbox
	SlamToolbox (ros::NodeHandle &nh)

	~SlamToolbox ()

Protected Member Functions
virtual LocalizedRangeScan *	addScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose) override final

bool	clearLocalizationBuffer (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

virtual bool	deserializePoseGraphCallback (slam_toolbox_msgs::DeserializePoseGraph::Request &req, slam_toolbox_msgs::DeserializePoseGraph::Response &resp) override final

virtual void	laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan) override final

void	localizePoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)

virtual bool	serializePoseGraphCallback (slam_toolbox_msgs::SerializePoseGraph::Request &req, slam_toolbox_msgs::SerializePoseGraph::Response &resp) override final

Protected Member Functions inherited from slam_toolbox::SlamToolbox
karto::LocalizedRangeScan *	addScan (karto::LaserRangeFinder *laser, PosedScan &scanWPose)

karto::LaserRangeFinder *	getLaser (const sensor_msgs::LaserScan::ConstPtr &scan)

karto::LocalizedRangeScan *	getLocalizedRangeScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose)

bool	isPaused (const PausedApplication &app)

void	loadPoseGraphByParams (ros::NodeHandle &nh)

void	loadSerializedPoseGraph (std::unique_ptr< karto::Mapper > &, std::unique_ptr< karto::Dataset > &)

bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)

bool	pauseNewMeasurementsCallback (slam_toolbox_msgs::Pause::Request &req, slam_toolbox_msgs::Pause::Response &resp)

void	publishPose (const karto::Pose2 &pose, const karto::Matrix3 &cov, const ros::Time &t)

void	publishTransformLoop (const double &transform_publish_period)

void	publishVisualizations ()

void	setParams (ros::NodeHandle &nh)

void	setROSInterfaces (ros::NodeHandle &node)

void	setSolver (ros::NodeHandle &private_nh_)

tf2::Stamped< tf2::Transform >	setTransformFromPoses (const karto::Pose2 &pose, const karto::Pose2 &karto_pose, const ros::Time &t, const bool &update_reprocessing_transform)

bool	shouldProcessScan (const sensor_msgs::LaserScan::ConstPtr &scan, const karto::Pose2 &pose)

bool	shouldStartWithPoseGraph (std::string &filename, geometry_msgs::Pose2D &pose, bool &start_at_dock)

bool	updateMap ()

Protected Attributes
ros::ServiceServer	clear_localization_

ros::Subscriber	localization_pose_sub_

Protected Attributes inherited from slam_toolbox::SlamToolbox
std::string	base_frame_

std::unique_ptr< loop_closure_assistant::LoopClosureAssistant >	closure_assistant_

std::unique_ptr< karto::Dataset >	dataset_

bool	enable_interactive_mode_

bool	first_measurement_

std::unique_ptr< laser_utils::LaserAssistant >	laser_assistant_

std::map< std::string, laser_utils::LaserMetadata >	lasers_

nav_msgs::GetMap::Response	map_

std::string	map_frame_

std::string	map_name_

std::unique_ptr< map_saver::MapSaver >	map_saver_

tf2::Transform	map_to_odom_

boost::mutex	map_to_odom_mutex_

ros::Duration	minimum_time_interval_

ros::NodeHandle	nh_

std::string	odom_frame_

std::unique_ptr< pose_utils::GetPoseHelper >	pose_helper_

boost::mutex	pose_mutex_

ros::Publisher	pose_pub_

double	position_covariance_scale_

std::unique_ptr< karto::Pose2 >	process_near_pose_

ProcessType	processor_type_

tf2::Transform	reprocessing_transform_

double	resolution_

std::unique_ptr< tf2_ros::MessageFilter< sensor_msgs::LaserScan > >	scan_filter_

std::unique_ptr< message_filters::Subscriber< sensor_msgs::LaserScan > >	scan_filter_sub_

std::unique_ptr< laser_utils::ScanHolder >	scan_holder_

std::string	scan_topic_

std::unique_ptr< mapper_utils::SMapper >	smapper_

boost::mutex	smapper_mutex_

boost::shared_ptr< karto::ScanSolver >	solver_

pluginlib::ClassLoader< karto::ScanSolver >	solver_loader_

ros::ServiceServer	ssDesserialize_

ros::ServiceServer	ssMap_

ros::ServiceServer	ssPauseMeasurements_

ros::ServiceServer	ssSerialize_

ros::Publisher	sst_

ros::Publisher	sstm_

PausedState	state_

std::unique_ptr< tf2_ros::Buffer >	tf_

ros::Duration	tf_buffer_dur_

std::unique_ptr< tf2_ros::TransformBroadcaster >	tfB_

std::unique_ptr< tf2_ros::TransformListener >	tfL_

std::vector< std::unique_ptr< boost::thread > >	threads_

int	throttle_scans_

ros::Duration	transform_timeout_

double	yaw_covariance_scale_

Detailed Description

Definition at line 30 of file slam_toolbox_localization.hpp.

Constructor & Destructor Documentation

◆ LocalizationSlamToolbox()

slam_toolbox::LocalizationSlamToolbox::LocalizationSlamToolbox ( ros::NodeHandle & nh )

Definition at line 25 of file slam_toolbox_localization.cpp.

◆ ~LocalizationSlamToolbox()

slam_toolbox::LocalizationSlamToolbox::~LocalizationSlamToolbox ( )

inline

Definition at line 34 of file slam_toolbox_localization.hpp.

Member Function Documentation

◆ addScan()

LocalizedRangeScan * slam_toolbox::LocalizationSlamToolbox::addScan	(	karto::LaserRangeFinder *	laser,
		const sensor_msgs::LaserScan::ConstPtr &	scan,
		karto::Pose2 &	karto_pose
	)

finaloverrideprotectedvirtual

Reimplemented from slam_toolbox::SlamToolbox.

Definition at line 133 of file slam_toolbox_localization.cpp.

◆ clearLocalizationBuffer()

bool slam_toolbox::LocalizationSlamToolbox::clearLocalizationBuffer	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

protected

Definition at line 65 of file slam_toolbox_localization.cpp.

◆ deserializePoseGraphCallback()

bool slam_toolbox::LocalizationSlamToolbox::deserializePoseGraphCallback	(	slam_toolbox_msgs::DeserializePoseGraph::Request &	req,
		slam_toolbox_msgs::DeserializePoseGraph::Response &	resp
	)

finaloverrideprotectedvirtual

Reimplemented from slam_toolbox::SlamToolbox.

Definition at line 88 of file slam_toolbox_localization.cpp.

◆ laserCallback()

void slam_toolbox::LocalizationSlamToolbox::laserCallback ( const sensor_msgs::LaserScan::ConstPtr & scan )

finaloverrideprotectedvirtual

Implements slam_toolbox::SlamToolbox.

Definition at line 103 of file slam_toolbox_localization.cpp.

◆ localizePoseCallback()

void slam_toolbox::LocalizationSlamToolbox::localizePoseCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg )

protected

Definition at line 198 of file slam_toolbox_localization.cpp.

◆ serializePoseGraphCallback()

bool slam_toolbox::LocalizationSlamToolbox::serializePoseGraphCallback	(	slam_toolbox_msgs::SerializePoseGraph::Request &	req,
		slam_toolbox_msgs::SerializePoseGraph::Response &	resp
	)

finaloverrideprotectedvirtual

Reimplemented from slam_toolbox::SlamToolbox.

Definition at line 77 of file slam_toolbox_localization.cpp.

Member Data Documentation

◆ clear_localization_

ros::ServiceServer slam_toolbox::LocalizationSlamToolbox::clear_localization_

protected

Definition at line 57 of file slam_toolbox_localization.hpp.

◆ localization_pose_sub_

ros::Subscriber slam_toolbox::LocalizationSlamToolbox::localization_pose_sub_

protected

Definition at line 56 of file slam_toolbox_localization.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LocalizationSlamToolbox()

◆ ~LocalizationSlamToolbox()

Member Function Documentation

◆ addScan()

◆ clearLocalizationBuffer()

◆ deserializePoseGraphCallback()

◆ laserCallback()

◆ localizePoseCallback()

◆ serializePoseGraphCallback()

Member Data Documentation

◆ clear_localization_

◆ localization_pose_sub_