laser_slam_node.cpp File Reference

#include <laser_slam/point_cloud_snapshotter.h>
#include <laser_slam/scan_intersection.h>
#include <pose_graph/exception.h>
#include <boost/format.hpp>
#include <stdexcept>
#include <string>
#include <graph_slam/localization_buffer.h>
#include <pose_graph/constraint_graph.h>
#include <pose_graph/graph_db.h>
#include <ros/ros.h>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "ros/service_traits.h"
#include "graph_mapping_msgs/Node.h"
#include "graph_mapping_msgs/Edge.h"
#include <graph_mapping_msgs/ConstraintGraphDiff.h>
#include <boost/thread.hpp>
#include <graph_mapping_msgs/GetPoses.h>
#include <warehouse/warehouse_client.h>
#include <tf/transform_listener.h>
#include "tf/tf.h"
#include "tf/tfMessage.h"
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <boost/optional.hpp>
#include <ros/message_traits.h>
#include <tf/exceptions.h>
#include <boost/type_traits/remove_const.hpp>
#include <graph_mapping_utils/geometry.h>
#include <graph_mapping_msgs/NodePoses.h>
#include "geometry.h"
#include <boost/lexical_cast.hpp>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Pose2D.h>
#include <geometry_msgs/Point.h>
#include <iostream>
#include <set>
#include <numeric>
#include <tf/transform_datatypes.h>
#include <graph_mapping_utils/ros.h>
#include "../../src/graph_search_impl.h"
#include <tf/transform_broadcaster.h>

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Classes
class	laser_slam::LaserMapper
Namespaces
namespace	laser_slam
Typedefs
typedef boost::optional < gm::PoseStamped >	laser_slam::MaybeLoc
typedef boost::optional < ros::Time >	laser_slam::MaybeTime
Functions
int	main (int argc, char **argv)
ScanIntersection	laser_slam::makeScanInt ()
Variables
const double	laser_slam::SCAN_TIME_INC = 0.2

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Detailed Description

Node that runs the mapper. The only extension is to modify things so that new nodes are created at time points where there's a laser scan.

Author:

Bhaskara Marthi

Definition in file laser_slam_node.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 172 of file laser_slam_node.cpp.