octomap_server::OctomapServer Class Reference

#include <OctomapServer.h>

Inheritance diagram for octomap_server::OctomapServer:

Public Types
typedef pcl::PointCloud < pcl::PointXYZ >	PCLPointCloud
Public Member Functions
bool	clearBBXSrv (octomap_ros::ClearBBXRegionRequest &req, octomap_ros::ClearBBXRegionRequest &resp)
void	insertCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)
	OctomapServer (const std::string &filename="")
bool	openFile (const std::string &filename)
bool	resetSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
bool	serviceCallback (octomap_ros::GetOctomap::Request &req, octomap_ros::GetOctomap::Response &res)
virtual	~OctomapServer ()
Protected Member Functions
void	filterGroundPlane (const PCLPointCloud &pc, PCLPointCloud &ground, PCLPointCloud &nonground) const
	label the input cloud "pc" into ground and nonground. Should be in the robot's fixed frame (not world!)
void	handleFreeNode (const octomap::OcTreeROS::OcTreeType::iterator &it)
	hook that is called when traversing free nodes of the updated Octree (updates 2D map projection here)
void	handleNode (const octomap::OcTreeROS::OcTreeType::iterator &it)
	hook that is called when traversing all nodes of the updated Octree (does nothing here)
void	handleOccupiedNode (const octomap::OcTreeROS::OcTreeType::iterator &it)
	hook that is called when traversing occupied nodes of the updated Octree (updates 2D map projection here)
void	handlePostNodeTraversal (const ros::Time &rostime)
	hook that is called after traversing all nodes
void	handlePreNodeTraversal (const ros::Time &rostime)
	hook that is called after traversing all nodes
std_msgs::ColorRGBA	heightMapColor (double h) const
virtual void	insertScan (const tf::Point &sensorOrigin, const PCLPointCloud &ground, const PCLPointCloud &nonground)
	update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.
bool	isSpeckleNode (const octomap::OcTreeKey &key) const
	Find speckle nodes (single occupied voxels with no neighbors). Only works on lowest resolution!
void	publishAll (const ros::Time &rostime=ros::Time::now())
void	publishMap (const ros::Time &rostime=ros::Time::now()) const
void	reconfigureCallback (octomap_server::OctomapServerConfig &config, uint32_t level)
Protected Attributes
std::string	m_baseFrameId
ros::Publisher	m_binaryMapPub
ros::ServiceServer	m_clearBBXService
ros::Publisher	m_cmapPub
ros::Publisher	m_collisionObjectPub
std_msgs::ColorRGBA	m_color
double	m_colorFactor
bool	m_filterGroundPlane
bool	m_filterSpeckles
nav_msgs::OccupancyGrid	m_gridmap
double	m_groundFilterAngle
double	m_groundFilterDistance
double	m_groundFilterPlaneDistance
octomap::KeyRay	m_keyRay
bool	m_latchedTopics
ros::Publisher	m_mapPub
ros::Publisher	m_markerPub
double	m_maxRange
unsigned	m_maxTreeDepth
double	m_minSizeX
double	m_minSizeY
unsigned	m_multires2DScale
ros::NodeHandle	m_nh
double	m_occupancyMaxZ
double	m_occupancyMinZ
octomap::OcTreeROS *	m_octoMap
ros::ServiceServer	m_octomapService
octomap::OcTreeKey	m_paddedMinKey
double	m_pointcloudMaxZ
double	m_pointcloudMinZ
ros::Publisher	m_pointCloudPub
message_filters::Subscriber < sensor_msgs::PointCloud2 > *	m_pointCloudSub
double	m_probHit
double	m_probMiss
bool	m_publish2DMap
dynamic_reconfigure::Server < OctomapServerConfig >	m_reconfigureServer
double	m_res
ros::ServiceServer	m_resetService
tf::TransformListener	m_tfListener
tf::MessageFilter < sensor_msgs::PointCloud2 > *	m_tfPointCloudSub
double	m_thresMax
double	m_thresMin
unsigned	m_treeDepth
bool	m_useHeightMap
std::string	m_worldFrameId

Detailed Description

Definition at line 72 of file OctomapServer.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> octomap_server::OctomapServer::PCLPointCloud

Definition at line 75 of file OctomapServer.h.

Constructor & Destructor Documentation

octomap_server::OctomapServer::OctomapServer ( const std::string & filename = "" )

Definition at line 44 of file OctomapServer.cpp.

octomap_server::OctomapServer::~OctomapServer ( ) [virtual]

Definition at line 161 of file OctomapServer.cpp.

Member Function Documentation

bool octomap_server::OctomapServer::clearBBXSrv	(	octomap_ros::ClearBBXRegionRequest &	req,
		octomap_ros::ClearBBXRegionRequest &	resp
	)

Definition at line 524 of file OctomapServer.cpp.

void octomap_server::OctomapServer::filterGroundPlane	(	const PCLPointCloud &	pc,
		PCLPointCloud &	ground,
		PCLPointCloud &	nonground
	)			const `[protected]`

label the input cloud "pc" into ground and nonground. Should be in the robot's fixed frame (not world!)

Definition at line 578 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handleFreeNode ( const octomap::OcTreeROS::OcTreeType::iterator & it ) [protected]

hook that is called when traversing free nodes of the updated Octree (updates 2D map projection here)

Reimplemented in octomap_server::OctomapServerMultilayer.

void octomap_server::OctomapServer::handleNode ( const octomap::OcTreeROS::OcTreeType::iterator & it ) [inline, protected]

hook that is called when traversing all nodes of the updated Octree (does nothing here)

Reimplemented in octomap_server::OctomapServerMultilayer.

Definition at line 116 of file OctomapServer.h.

void octomap_server::OctomapServer::handleOccupiedNode ( const octomap::OcTreeROS::OcTreeType::iterator & it ) [protected]

hook that is called when traversing occupied nodes of the updated Octree (updates 2D map projection here)

Reimplemented in octomap_server::OctomapServerMultilayer.

void octomap_server::OctomapServer::handlePostNodeTraversal ( const ros::Time & rostime ) [protected]

hook that is called after traversing all nodes

Reimplemented in octomap_server::OctomapServerMultilayer.

Definition at line 783 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handlePreNodeTraversal ( const ros::Time & rostime ) [protected]

hook that is called after traversing all nodes

Reimplemented in octomap_server::OctomapServerMultilayer.

Definition at line 687 of file OctomapServer.cpp.

std_msgs::ColorRGBA octomap_server::OctomapServer::heightMapColor ( double h ) const [protected]

Definition at line 872 of file OctomapServer.cpp.

void octomap_server::OctomapServer::insertCloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud )

Definition at line 191 of file OctomapServer.cpp.

void octomap_server::OctomapServer::insertScan	(	const tf::Point &	sensorOrigin,
		const PCLPointCloud &	ground,
		const PCLPointCloud &	nonground
	)			`[protected, virtual]`

update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.

Parameters:

	sensorOrigin	origin of the measurements for raycasting
	ground	scan endpoints on the ground plane (only clear space)
	nonground	all other endpoints (clear up to occupied endpoint)

Reimplemented in octomap_server::TrackingOctomapServer.

Definition at line 271 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::isSpeckleNode ( const octomap::OcTreeKey & key ) const [protected]

Find speckle nodes (single occupied voxels with no neighbors). Only works on lowest resolution!

Parameters:

key