#include <slam_gmapping.h>
Public Member Functions | |
void | laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan) |
bool | mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res) |
void | publishLoop (double transform_publish_period) |
void | publishTransform () |
SlamGMapping () | |
~SlamGMapping () | |
Private Member Functions | |
bool | addScan (const sensor_msgs::LaserScan &scan, GMapping::OrientedPoint &gmap_pose) |
double | computePoseEntropy () |
bool | getOdomPose (GMapping::OrientedPoint &gmap_pose, const ros::Time &t) |
bool | initMapper (const sensor_msgs::LaserScan &scan) |
void | updateMap (const sensor_msgs::LaserScan &scan) |
Private Attributes | |
double | angularUpdate_ |
double | astep_ |
std::string | base_frame_ |
double | delta_ |
ros::Publisher | entropy_publisher_ |
bool | got_first_scan_ |
bool | got_map_ |
GMapping::GridSlamProcessor * | gsp_ |
GMapping::RangeSensor * | gsp_laser_ |
double | gsp_laser_angle_increment_ |
unsigned int | gsp_laser_beam_count_ |
GMapping::OdometrySensor * | gsp_odom_ |
int | iterations_ |
int | kernelSize_ |
double | lasamplerange_ |
double | lasamplestep_ |
int | laser_count_ |
std::string | laser_frame_ |
double | linearUpdate_ |
double | llsamplerange_ |
double | llsamplestep_ |
double | lsigma_ |
int | lskip_ |
double | lstep_ |
nav_msgs::GetMap::Response | map_ |
std::string | map_frame_ |
boost::mutex | map_mutex_ |
tf::Transform | map_to_odom_ |
boost::mutex | map_to_odom_mutex_ |
ros::Duration | map_update_interval_ |
double | maxrange_ |
double | maxRange_ |
double | maxUrange_ |
ros::NodeHandle | node_ |
double | occ_thresh_ |
std::string | odom_frame_ |
double | ogain_ |
int | particles_ |
double | resampleThreshold_ |
tf::MessageFilter < sensor_msgs::LaserScan > * | scan_filter_ |
message_filters::Subscriber < sensor_msgs::LaserScan > * | scan_filter_sub_ |
double | sigma_ |
double | srr_ |
double | srt_ |
ros::ServiceServer | ss_ |
ros::Publisher | sst_ |
ros::Publisher | sstm_ |
double | str_ |
double | stt_ |
double | temporalUpdate_ |
tf::TransformListener | tf_ |
tf::TransformBroadcaster * | tfB_ |
int | throttle_scans_ |
boost::thread * | transform_thread_ |
double | xmax_ |
double | xmin_ |
double | ymax_ |
double | ymin_ |
Definition at line 33 of file slam_gmapping.h.
SlamGMapping::SlamGMapping | ( | ) |
Definition at line 123 of file slam_gmapping.cpp.
SlamGMapping::~SlamGMapping | ( | ) |
Definition at line 243 of file slam_gmapping.cpp.
bool SlamGMapping::addScan | ( | const sensor_msgs::LaserScan & | scan, | |
GMapping::OrientedPoint & | gmap_pose | |||
) | [private] |
Definition at line 403 of file slam_gmapping.cpp.
double SlamGMapping::computePoseEntropy | ( | ) | [private] |
Definition at line 515 of file slam_gmapping.cpp.
bool SlamGMapping::getOdomPose | ( | GMapping::OrientedPoint & | gmap_pose, | |
const ros::Time & | t | |||
) | [private] |
Definition at line 262 of file slam_gmapping.cpp.
bool SlamGMapping::initMapper | ( | const sensor_msgs::LaserScan & | scan | ) | [private] |
Definition at line 286 of file slam_gmapping.cpp.
void SlamGMapping::laserCallback | ( | const sensor_msgs::LaserScan::ConstPtr & | scan | ) |
Definition at line 462 of file slam_gmapping.cpp.
bool SlamGMapping::mapCallback | ( | nav_msgs::GetMap::Request & | req, | |
nav_msgs::GetMap::Response & | res | |||
) |
Definition at line 655 of file slam_gmapping.cpp.
void SlamGMapping::publishLoop | ( | double | transform_publish_period | ) |
Definition at line 232 of file slam_gmapping.cpp.
void SlamGMapping::publishTransform | ( | ) |
Definition at line 668 of file slam_gmapping.cpp.
void SlamGMapping::updateMap | ( | const sensor_msgs::LaserScan & | scan | ) | [private] |
Definition at line 536 of file slam_gmapping.cpp.
double SlamGMapping::angularUpdate_ [private] |
Definition at line 106 of file slam_gmapping.h.
double SlamGMapping::astep_ [private] |
Definition at line 96 of file slam_gmapping.h.
std::string SlamGMapping::base_frame_ [private] |
Definition at line 78 of file slam_gmapping.h.
double SlamGMapping::delta_ [private] |
Definition at line 114 of file slam_gmapping.h.
ros::Publisher SlamGMapping::entropy_publisher_ [private] |
Definition at line 48 of file slam_gmapping.h.
bool SlamGMapping::got_first_scan_ [private] |
Definition at line 63 of file slam_gmapping.h.
bool SlamGMapping::got_map_ [private] |
Definition at line 65 of file slam_gmapping.h.
GMapping::GridSlamProcessor* SlamGMapping::gsp_ [private] |
Definition at line 57 of file slam_gmapping.h.
GMapping::RangeSensor* SlamGMapping::gsp_laser_ [private] |
Definition at line 58 of file slam_gmapping.h.
double SlamGMapping::gsp_laser_angle_increment_ [private] |
Definition at line 59 of file slam_gmapping.h.
unsigned int SlamGMapping::gsp_laser_beam_count_ [private] |
Definition at line 60 of file slam_gmapping.h.
GMapping::OdometrySensor* SlamGMapping::gsp_odom_ [private] |
Definition at line 61 of file slam_gmapping.h.
int SlamGMapping::iterations_ [private] |
Definition at line 97 of file slam_gmapping.h.
int SlamGMapping::kernelSize_ [private] |
Definition at line 94 of file slam_gmapping.h.
double SlamGMapping::lasamplerange_ [private] |
Definition at line 118 of file slam_gmapping.h.
double SlamGMapping::lasamplestep_ [private] |
Definition at line 119 of file slam_gmapping.h.
int SlamGMapping::laser_count_ [private] |
Definition at line 73 of file slam_gmapping.h.
std::string SlamGMapping::laser_frame_ [private] |
Definition at line 79 of file slam_gmapping.h.
double SlamGMapping::linearUpdate_ [private] |
Definition at line 105 of file slam_gmapping.h.
double SlamGMapping::llsamplerange_ [private] |
Definition at line 116 of file slam_gmapping.h.
double SlamGMapping::llsamplestep_ [private] |
Definition at line 117 of file slam_gmapping.h.
double SlamGMapping::lsigma_ [private] |
Definition at line 98 of file slam_gmapping.h.
int SlamGMapping::lskip_ [private] |
Definition at line 100 of file slam_gmapping.h.
double SlamGMapping::lstep_ [private] |
Definition at line 95 of file slam_gmapping.h.
nav_msgs::GetMap::Response SlamGMapping::map_ [private] |
Definition at line 66 of file slam_gmapping.h.
std::string SlamGMapping::map_frame_ [private] |
Definition at line 80 of file slam_gmapping.h.
boost::mutex SlamGMapping::map_mutex_ [private] |
Definition at line 71 of file slam_gmapping.h.
tf::Transform SlamGMapping::map_to_odom_ [private] |
Definition at line 69 of file slam_gmapping.h.
boost::mutex SlamGMapping::map_to_odom_mutex_ [private] |
Definition at line 70 of file slam_gmapping.h.
ros::Duration SlamGMapping::map_update_interval_ [private] |
Definition at line 68 of file slam_gmapping.h.
double SlamGMapping::maxrange_ [private] |
Definition at line 92 of file slam_gmapping.h.
double SlamGMapping::maxRange_ [private] |
Definition at line 90 of file slam_gmapping.h.
double SlamGMapping::maxUrange_ [private] |
Definition at line 91 of file slam_gmapping.h.
ros::NodeHandle SlamGMapping::node_ [private] |
Definition at line 47 of file slam_gmapping.h.
double SlamGMapping::occ_thresh_ [private] |
Definition at line 115 of file slam_gmapping.h.
std::string SlamGMapping::odom_frame_ [private] |
Definition at line 81 of file slam_gmapping.h.
double SlamGMapping::ogain_ [private] |
Definition at line 99 of file slam_gmapping.h.
int SlamGMapping::particles_ [private] |
Definition at line 109 of file slam_gmapping.h.
double SlamGMapping::resampleThreshold_ [private] |
Definition at line 108 of file slam_gmapping.h.
tf::MessageFilter<sensor_msgs::LaserScan>* SlamGMapping::scan_filter_ [private] |
Definition at line 54 of file slam_gmapping.h.
message_filters::Subscriber<sensor_msgs::LaserScan>* SlamGMapping::scan_filter_sub_ [private] |
Definition at line 53 of file slam_gmapping.h.
double SlamGMapping::sigma_ [private] |
Definition at line 93 of file slam_gmapping.h.
double SlamGMapping::srr_ [private] |
Definition at line 101 of file slam_gmapping.h.
double SlamGMapping::srt_ [private] |
Definition at line 102 of file slam_gmapping.h.
ros::ServiceServer SlamGMapping::ss_ [private] |
Definition at line 51 of file slam_gmapping.h.
ros::Publisher SlamGMapping::sst_ [private] |
Definition at line 49 of file slam_gmapping.h.
ros::Publisher SlamGMapping::sstm_ [private] |
Definition at line 50 of file slam_gmapping.h.
double SlamGMapping::str_ [private] |
Definition at line 103 of file slam_gmapping.h.
double SlamGMapping::stt_ [private] |
Definition at line 104 of file slam_gmapping.h.
double SlamGMapping::temporalUpdate_ [private] |
Definition at line 107 of file slam_gmapping.h.
tf::TransformListener SlamGMapping::tf_ [private] |
Definition at line 52 of file slam_gmapping.h.
tf::TransformBroadcaster* SlamGMapping::tfB_ [private] |
Definition at line 55 of file slam_gmapping.h.
int SlamGMapping::throttle_scans_ [private] |
Definition at line 74 of file slam_gmapping.h.
boost::thread* SlamGMapping::transform_thread_ [private] |
Definition at line 76 of file slam_gmapping.h.
double SlamGMapping::xmax_ [private] |
Definition at line 112 of file slam_gmapping.h.
double SlamGMapping::xmin_ [private] |
Definition at line 110 of file slam_gmapping.h.
double SlamGMapping::ymax_ [private] |
Definition at line 113 of file slam_gmapping.h.
double SlamGMapping::ymin_ [private] |
Definition at line 111 of file slam_gmapping.h.