#include <OctomapServer.h>
Public Types | |
typedef octomap_ros::ClearBBXRegion | BBXSrv |
typedef octomap_ros::GetOctomap | OctomapSrv |
typedef octomap::OcTree | OcTreeT |
typedef pcl::PointCloud < pcl::PointXYZ > | PCLPointCloud |
Public Member Functions | |
bool | clearBBXSrv (BBXSrv::Request &req, BBXSrv::Response &resp) |
virtual void | insertCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud) |
virtual bool | octomapBinarySrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res) |
virtual bool | octomapFullSrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res) |
OctomapServer (ros::NodeHandle private_nh_=ros::NodeHandle("~")) | |
virtual bool | openFile (const std::string &filename) |
bool | resetSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
virtual | ~OctomapServer () |
Protected Member Functions | |
void | adjustMapData (nav_msgs::OccupancyGrid &map, const nav_msgs::MapMetaData &oldMapInfo) const |
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!) | |
virtual void | handleFreeNode (const OcTreeT::iterator &it) |
hook that is called when traversing free nodes of the updated Octree | |
virtual void | handleFreeNodeInBBX (const OcTreeT::iterator &it) |
hook that is called when traversing free nodes in the updated area (updates 2D map projection here) | |
virtual void | handleNode (const OcTreeT::iterator &it) |
hook that is called when traversing all nodes of the updated Octree (does nothing here) | |
virtual void | handleNodeInBBX (const OcTreeT::iterator &it) |
hook that is called when traversing all nodes of the updated Octree in the updated area (does nothing here) | |
virtual void | handleOccupiedNode (const OcTreeT::iterator &it) |
hook that is called when traversing occupied nodes of the updated Octree | |
virtual void | handleOccupiedNodeInBBX (const OcTreeT::iterator &it) |
hook that is called when traversing occupied nodes in the updated area (updates 2D map projection here) | |
virtual void | handlePostNodeTraversal (const ros::Time &rostime) |
hook that is called after traversing all nodes | |
virtual void | handlePreNodeTraversal (const ros::Time &rostime) |
hook that is called after traversing all nodes | |
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 | isInUpdateBBX (const octomap::OcTree::iterator &it) const |
Test if key is within update area of map (2D, ignores height) | |
bool | isSpeckleNode (const octomap::OcTreeKey &key) const |
Find speckle nodes (single occupied voxels with no neighbors). Only works on lowest resolution! | |
bool | mapChanged (const nav_msgs::MapMetaData &oldMapInfo, const nav_msgs::MapMetaData &newMapInfo) |
unsigned | mapIdx (int i, int j) const |
unsigned | mapIdx (const octomap::OcTreeKey &key) const |
void | publishAll (const ros::Time &rostime=ros::Time::now()) |
void | publishBinaryOctoMap (const ros::Time &rostime=ros::Time::now()) const |
void | publishFullOctoMap (const ros::Time &rostime=ros::Time::now()) const |
void | reconfigureCallback (octomap_server::OctomapServerConfig &config, uint32_t level) |
virtual void | update2DMap (const OcTreeT::iterator &it, bool occupied) |
updates the downprojected 2D map as either occupied or free | |
Static Protected Member Functions | |
static std_msgs::ColorRGBA | heightMapColor (double h) |
static void | updateMaxKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &max) |
static void | updateMinKey (const octomap::OcTreeKey &in, octomap::OcTreeKey &min) |
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 |
std_msgs::ColorRGBA | m_colorFree |
bool | m_compressMap |
bool | m_filterGroundPlane |
bool | m_filterSpeckles |
ros::Publisher | m_fmapPub |
ros::Publisher | m_fmarkerPub |
ros::Publisher | m_fullMapPub |
nav_msgs::OccupancyGrid | m_gridmap |
double | m_groundFilterAngle |
double | m_groundFilterDistance |
double | m_groundFilterPlaneDistance |
bool | m_incrementalUpdate |
octomap::KeyRay | m_keyRay |
bool | m_latchedTopics |
bool | m_mapOriginChanged |
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 |
ros::ServiceServer | m_octomapBinaryService |
ros::ServiceServer | m_octomapFullService |
octomap::OcTree * | m_octree |
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_projectCompleteMap |
bool | m_publish2DMap |
bool | m_publishFreeSpace |
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 |
octomap::OcTreeKey | m_updateBBXMax |
octomap::OcTreeKey | m_updateBBXMin |
bool | m_useHeightMap |
std::string | m_worldFrameId |
Definition at line 82 of file OctomapServer.h.
typedef octomap_ros::ClearBBXRegion octomap_server::OctomapServer::BBXSrv |
Definition at line 91 of file OctomapServer.h.
typedef octomap_ros::GetOctomap octomap_server::OctomapServer::OctomapSrv |
Definition at line 90 of file OctomapServer.h.
typedef octomap::OcTree octomap_server::OctomapServer::OcTreeT |
Definition at line 94 of file OctomapServer.h.
typedef pcl::PointCloud<pcl::PointXYZ> octomap_server::OctomapServer::PCLPointCloud |
Definition at line 85 of file OctomapServer.h.
octomap_server::OctomapServer::OctomapServer | ( | ros::NodeHandle | private_nh_ = ros::NodeHandle("~") | ) |
Definition at line 45 of file OctomapServer.cpp.
octomap_server::OctomapServer::~OctomapServer | ( | ) | [virtual] |
Definition at line 174 of file OctomapServer.cpp.
void octomap_server::OctomapServer::adjustMapData | ( | nav_msgs::OccupancyGrid & | map, |
const nav_msgs::MapMetaData & | oldMapInfo | ||
) | const [protected] |
Adjust data of map due to a change in its info properties (origin or size, resolution needs to stay fixed). map already contains the new map info, but the data is stored according to oldMapInfo.
Definition at line 1167 of file OctomapServer.cpp.
bool octomap_server::OctomapServer::clearBBXSrv | ( | BBXSrv::Request & | req, |
BBXSrv::Response & | resp | ||
) |
Definition at line 746 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 838 of file OctomapServer.cpp.
void octomap_server::OctomapServer::handleFreeNode | ( | const OcTreeT::iterator & | it | ) | [protected, virtual] |
hook that is called when traversing free nodes of the updated Octree
Definition at line 1083 of file OctomapServer.cpp.
void octomap_server::OctomapServer::handleFreeNodeInBBX | ( | const OcTreeT::iterator & | it | ) | [protected, virtual] |
hook that is called when traversing free nodes in the updated area (updates 2D map projection here)
Definition at line 1097 of file OctomapServer.cpp.
virtual void octomap_server::OctomapServer::handleNode | ( | const OcTreeT::iterator & | it | ) | [inline, protected, virtual] |
hook that is called when traversing all nodes of the updated Octree (does nothing here)
Definition at line 157 of file OctomapServer.h.
virtual void octomap_server::OctomapServer::handleNodeInBBX | ( | const OcTreeT::iterator & | it | ) | [inline, protected, virtual] |
hook that is called when traversing all nodes of the updated Octree in the updated area (does nothing here)
Definition at line 160 of file OctomapServer.h.
void octomap_server::OctomapServer::handleOccupiedNode | ( | const OcTreeT::iterator & | it | ) | [protected, virtual] |
hook that is called when traversing occupied nodes of the updated Octree
Definition at line 1076 of file OctomapServer.cpp.
void octomap_server::OctomapServer::handleOccupiedNodeInBBX | ( | const OcTreeT::iterator & | it | ) | [protected, virtual] |
hook that is called when traversing occupied nodes in the updated area (updates 2D map projection here)
Definition at line 1090 of file OctomapServer.cpp.
void octomap_server::OctomapServer::handlePostNodeTraversal | ( | const ros::Time & | rostime | ) | [protected, virtual] |
hook that is called after traversing all nodes
Reimplemented in octomap_server::OctomapServerMultilayer.
Definition at line 1070 of file OctomapServer.cpp.
void octomap_server::OctomapServer::handlePreNodeTraversal | ( | const ros::Time & | rostime | ) | [protected, virtual] |
hook that is called after traversing all nodes
Reimplemented in octomap_server::OctomapServerMultilayer.
Definition at line 947 of file OctomapServer.cpp.
std_msgs::ColorRGBA octomap_server::OctomapServer::heightMapColor | ( | double | h | ) | [static, protected] |
Definition at line 1208 of file OctomapServer.cpp.
void octomap_server::OctomapServer::insertCloudCallback | ( | const sensor_msgs::PointCloud2::ConstPtr & | cloud | ) | [virtual] |
Definition at line 245 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.
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 338 of file OctomapServer.cpp.
bool octomap_server::OctomapServer::isInUpdateBBX | ( | const octomap::OcTree::iterator & | it | ) | const [inline, protected] |
Test if key is within update area of map (2D, ignores height)
Definition at line 118 of file OctomapServer.h.
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!
key |
Definition at line 1137 of file OctomapServer.cpp.
bool octomap_server::OctomapServer::mapChanged | ( | const nav_msgs::MapMetaData & | oldMapInfo, |
const nav_msgs::MapMetaData & | newMapInfo | ||
) | [inline, protected] |
Definition at line 198 of file OctomapServer.h.
unsigned octomap_server::OctomapServer::mapIdx | ( | int | i, |
int | j | ||
) | const [inline, protected] |
Definition at line 180 of file OctomapServer.h.
unsigned octomap_server::OctomapServer::mapIdx | ( | const octomap::OcTreeKey & | key | ) | const [inline, protected] |
Definition at line 184 of file OctomapServer.h.
bool octomap_server::OctomapServer::octomapBinarySrv | ( | OctomapSrv::Request & | req, |
OctomapSrv::GetOctomap::Response & | res | ||
) | [virtual] |
Definition at line 720 of file OctomapServer.cpp.
bool octomap_server::OctomapServer::octomapFullSrv | ( | OctomapSrv::Request & | req, |
OctomapSrv::GetOctomap::Response & | res | ||
) | [virtual] |
Definition at line 732 of file OctomapServer.cpp.
bool octomap_server::OctomapServer::openFile | ( | const std::string & | filename | ) | [virtual] |
Definition at line 193 of file OctomapServer.cpp.
void octomap_server::OctomapServer::publishAll | ( | const ros::Time & | rostime = ros::Time::now() | ) | [protected] |
Definition at line 453 of file OctomapServer.cpp.
void octomap_server::OctomapServer::publishBinaryOctoMap | ( | const ros::Time & | rostime = ros::Time::now() | ) | const [protected] |
Definition at line 812 of file OctomapServer.cpp.
void octomap_server::OctomapServer::publishFullOctoMap | ( | const ros::Time & | rostime = ros::Time::now() | ) | const [protected] |
Definition at line 824 of file OctomapServer.cpp.
void octomap_server::OctomapServer::reconfigureCallback | ( | octomap_server::OctomapServerConfig & | config, |
uint32_t | level | ||
) | [protected] |
Definition at line 1157 of file OctomapServer.cpp.
bool octomap_server::OctomapServer::resetSrv | ( | std_srvs::Empty::Request & | req, |
std_srvs::Empty::Response & | resp | ||
) |
Definition at line 764 of file OctomapServer.cpp.
void octomap_server::OctomapServer::update2DMap | ( | const OcTreeT::iterator & | it, |
bool | occupied | ||
) | [protected, virtual] |
updates the downprojected 2D map as either occupied or free
Reimplemented in octomap_server::OctomapServerMultilayer.
Definition at line 1104 of file OctomapServer.cpp.
static void octomap_server::OctomapServer::updateMaxKey | ( | const octomap::OcTreeKey & | in, |
octomap::OcTreeKey & | max | ||
) | [inline, static, protected] |
Definition at line 112 of file OctomapServer.h.
static void octomap_server::OctomapServer::updateMinKey | ( | const octomap::OcTreeKey & | in, |
octomap::OcTreeKey & | min | ||
) | [inline, static, protected] |
Definition at line 107 of file OctomapServer.h.
std::string octomap_server::OctomapServer::m_baseFrameId [protected] |
Definition at line 221 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
Definition at line 210 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
std_msgs::ColorRGBA octomap_server::OctomapServer::m_color [protected] |
Definition at line 223 of file OctomapServer.h.
double octomap_server::OctomapServer::m_colorFactor [protected] |
Definition at line 225 of file OctomapServer.h.
std_msgs::ColorRGBA octomap_server::OctomapServer::m_colorFree [protected] |
Definition at line 224 of file OctomapServer.h.
bool octomap_server::OctomapServer::m_compressMap [protected] |
Definition at line 251 of file OctomapServer.h.
Definition at line 246 of file OctomapServer.h.
bool octomap_server::OctomapServer::m_filterSpeckles [protected] |
Definition at line 244 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
nav_msgs::OccupancyGrid octomap_server::OctomapServer::m_gridmap [protected] |
Definition at line 255 of file OctomapServer.h.
double octomap_server::OctomapServer::m_groundFilterAngle [protected] |
Definition at line 248 of file OctomapServer.h.
double octomap_server::OctomapServer::m_groundFilterDistance [protected] |
Definition at line 247 of file OctomapServer.h.
double octomap_server::OctomapServer::m_groundFilterPlaneDistance [protected] |
Definition at line 249 of file OctomapServer.h.
Definition at line 254 of file OctomapServer.h.
octomap::KeyRay octomap_server::OctomapServer::m_keyRay [protected] |
Definition at line 215 of file OctomapServer.h.
bool octomap_server::OctomapServer::m_latchedTopics [protected] |
Definition at line 227 of file OctomapServer.h.
Definition at line 257 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
double octomap_server::OctomapServer::m_maxRange [protected] |
Definition at line 219 of file OctomapServer.h.
unsigned octomap_server::OctomapServer::m_maxTreeDepth [protected] |
Definition at line 232 of file OctomapServer.h.
double octomap_server::OctomapServer::m_minSizeX [protected] |
Definition at line 242 of file OctomapServer.h.
double octomap_server::OctomapServer::m_minSizeY [protected] |
Definition at line 243 of file OctomapServer.h.
unsigned octomap_server::OctomapServer::m_multires2DScale [protected] |
Definition at line 259 of file OctomapServer.h.
ros::NodeHandle octomap_server::OctomapServer::m_nh [protected] |
Definition at line 206 of file OctomapServer.h.
double octomap_server::OctomapServer::m_occupancyMaxZ [protected] |
Definition at line 241 of file OctomapServer.h.
double octomap_server::OctomapServer::m_occupancyMinZ [protected] |
Definition at line 240 of file OctomapServer.h.
Definition at line 210 of file OctomapServer.h.
Definition at line 210 of file OctomapServer.h.
octomap::OcTree* octomap_server::OctomapServer::m_octree [protected] |
Definition at line 214 of file OctomapServer.h.
octomap::OcTreeKey octomap_server::OctomapServer::m_paddedMinKey [protected] |
Definition at line 258 of file OctomapServer.h.
double octomap_server::OctomapServer::m_pointcloudMaxZ [protected] |
Definition at line 239 of file OctomapServer.h.
double octomap_server::OctomapServer::m_pointcloudMinZ [protected] |
Definition at line 238 of file OctomapServer.h.
Definition at line 207 of file OctomapServer.h.
message_filters::Subscriber<sensor_msgs::PointCloud2>* octomap_server::OctomapServer::m_pointCloudSub [protected] |
Definition at line 208 of file OctomapServer.h.
double octomap_server::OctomapServer::m_probHit [protected] |
Definition at line 233 of file OctomapServer.h.
double octomap_server::OctomapServer::m_probMiss [protected] |
Definition at line 234 of file OctomapServer.h.
Definition at line 260 of file OctomapServer.h.
bool octomap_server::OctomapServer::m_publish2DMap [protected] |
Definition at line 256 of file OctomapServer.h.
Definition at line 228 of file OctomapServer.h.
dynamic_reconfigure::Server<OctomapServerConfig> octomap_server::OctomapServer::m_reconfigureServer [protected] |
Definition at line 212 of file OctomapServer.h.
double octomap_server::OctomapServer::m_res [protected] |
Definition at line 230 of file OctomapServer.h.
Definition at line 210 of file OctomapServer.h.
Definition at line 211 of file OctomapServer.h.
tf::MessageFilter<sensor_msgs::PointCloud2>* octomap_server::OctomapServer::m_tfPointCloudSub [protected] |
Definition at line 209 of file OctomapServer.h.
double octomap_server::OctomapServer::m_thresMax [protected] |
Definition at line 236 of file OctomapServer.h.
double octomap_server::OctomapServer::m_thresMin [protected] |
Definition at line 235 of file OctomapServer.h.
unsigned octomap_server::OctomapServer::m_treeDepth [protected] |
Definition at line 231 of file OctomapServer.h.
octomap::OcTreeKey octomap_server::OctomapServer::m_updateBBXMax [protected] |
Definition at line 217 of file OctomapServer.h.
octomap::OcTreeKey octomap_server::OctomapServer::m_updateBBXMin [protected] |
Definition at line 216 of file OctomapServer.h.
bool octomap_server::OctomapServer::m_useHeightMap [protected] |
Definition at line 222 of file OctomapServer.h.
std::string octomap_server::OctomapServer::m_worldFrameId [protected] |
Definition at line 220 of file OctomapServer.h.