Program Listing for File sensor_bridge.h
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/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SENSOR_BRIDGE_H
#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SENSOR_BRIDGE_H
#include <memory>
#include "absl/types/optional.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer/sensor/imu_data.h"
#include "cartographer/sensor/odometry_data.h"
#include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/transform.h"
#include "cartographer_ros/tf_bridge.h"
#include "cartographer_ros_msgs/msg/landmark_list.hpp"
#include <geometry_msgs/msg/transform.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/multi_echo_laser_scan.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
namespace cartographer_ros {
// Converts ROS messages into SensorData in tracking frame for the MapBuilder.
class SensorBridge {
public:
explicit SensorBridge(
int num_subdivisions_per_laser_scan, const std::string& tracking_frame,
double lookup_transform_timeout_sec, tf2_ros::Buffer* tf_buffer,
::cartographer::mapping::TrajectoryBuilderInterface* trajectory_builder);
SensorBridge(const SensorBridge&) = delete;
SensorBridge& operator=(const SensorBridge&) = delete;
std::unique_ptr<::cartographer::sensor::OdometryData> ToOdometryData(
const nav_msgs::msg::Odometry::ConstSharedPtr& msg);
void HandleOdometryMessage(const std::string& sensor_id,
const nav_msgs::msg::Odometry::ConstSharedPtr& msg);
void HandleNavSatFixMessage(const std::string& sensor_id,
const sensor_msgs::msg::NavSatFix::ConstSharedPtr& msg);
void HandleLandmarkMessage(
const std::string& sensor_id,
const cartographer_ros_msgs::msg::LandmarkList::ConstSharedPtr& msg);
std::unique_ptr<::cartographer::sensor::ImuData> ToImuData(
const sensor_msgs::msg::Imu::ConstSharedPtr& msg);
void HandleImuMessage(const std::string& sensor_id,
const sensor_msgs::msg::Imu::ConstSharedPtr& msg);
void HandleLaserScanMessage(const std::string& sensor_id,
const sensor_msgs::msg::LaserScan::ConstSharedPtr& msg);
void HandleMultiEchoLaserScanMessage(
const std::string& sensor_id,
const sensor_msgs::msg::MultiEchoLaserScan::ConstSharedPtr& msg);
void HandlePointCloud2Message(const std::string& sensor_id,
const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg);
const TfBridge& tf_bridge() const;
private:
void HandleLaserScan(
const std::string& sensor_id, ::cartographer::common::Time start_time,
const std::string& frame_id,
const ::cartographer::sensor::PointCloudWithIntensities& points);
void HandleRangefinder(const std::string& sensor_id,
::cartographer::common::Time time,
const std::string& frame_id,
const ::cartographer::sensor::TimedPointCloud& ranges);
const int num_subdivisions_per_laser_scan_;
std::map<std::string, cartographer::common::Time>
sensor_to_previous_subdivision_time_;
const TfBridge tf_bridge_;
::cartographer::mapping::TrajectoryBuilderInterface* const
trajectory_builder_;
absl::optional<::cartographer::transform::Rigid3d> ecef_to_local_frame_;
};
} // namespace cartographer_ros
#endif // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SENSOR_BRIDGE_H