localization_monitor_node.cpp File Reference

#include <flirtlib_ros/localization_monitor.h>
#include <flirtlib_ros/conversions.h>
#include <flirtlib_ros/common.h>
#include <flirtlib_ros/ExecutiveState.h>
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <tf/exceptions.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <mongo_ros/message_collection.h>
#include <visualization_msgs/Marker.h>
#include <move_base_msgs/MoveBaseActionResult.h>
#include <std_srvs/Empty.h>

Include dependency graph for localization_monitor_node.cpp:

Go to the source code of this file.

Classes
class	flirtlib_ros::Node
Namespaces
namespace	flirtlib_ros
Typedefs
typedef std::pair < InterestPoint *, InterestPoint * >	flirtlib_ros::Correspondence
typedef vector< Correspondence >	flirtlib_ros::Correspondences
typedef mr::MessageWithMetadata < RefScanRos >::ConstPtr	flirtlib_ros::DBScan
typedef mr::MessageWithMetadata < nm::OccupancyGrid >	flirtlib_ros::MapWithMetadata
typedef vector< RefScan >	flirtlib_ros::RefScans
Functions
unsigned	flirtlib_ros::getSum (const nm::OccupancyGrid &g)
	This is sort of like a hash for the map.
int	main (int argc, char **argv)

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Detailed Description

Ros node that updates and localizes using a set of saved scans. The idea is that you can run this all the time in the background, and it will both do startup localization, and update itself over time as the map changes.

Requires:

• The nav stack (amcl, move_base, map_server) to be running
• Incoming laser scans on base_scan topic
• A running mongodb instance on the given host.
• Either the given database must be empty, or it must have previously been used with the same occupancy grid that is currently being published by the nav stack.

Provides

• Will publish a pose on initialpose, if it decides the robot is poorly localized and it finds a good match among the saved scans.
• Visualization of interest point, reference scan locations
• Saves new scans to the db; tries to cover x-y-theta space with scans.
• Executive state published at 1hz on startup_loc_state
• ~reset_state service to reset to the state upon startup

Parameters:

• min_num_matches: feature matches required for a succesful scan match.
• min_successful_navs: Number of succesful navigations that must be observed before we start saving scans. Defaults to 1.
• db_name: Name of database. Defaults to flirtlib_place_rec.
• db_host: Hostname where db is running. Defaults to localhost.
• badness_threshold: Bound on badness parameter to consider robot well-localized. Defaults to 0.25.
• continual_publish_: whether to continually publish pose estimates or only do so once. Defaults to false.
• odom_frame_: Name of the odometric frame. Defaults to odom_combined.

Author:

Bhaskara Marthi

Definition in file localization_monitor_node.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 582 of file localization_monitor_node.cpp.