Class SlamToolbox

Defined in File slam_toolbox_common.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Derived Types

public slam_toolbox::AsynchronousSlamToolbox (Class AsynchronousSlamToolbox)
public slam_toolbox::LifelongSlamToolbox (Class LifelongSlamToolbox)
public slam_toolbox::LocalizationSlamToolbox (Class LocalizationSlamToolbox)
public slam_toolbox::SynchronousSlamToolbox (Class SynchronousSlamToolbox)

Class Documentation

class SlamToolbox : public rclcpp::Node

Subclassed by slam_toolbox::AsynchronousSlamToolbox, slam_toolbox::LifelongSlamToolbox, slam_toolbox::LocalizationSlamToolbox, slam_toolbox::SynchronousSlamToolbox

Public Functions

explicit SlamToolbox(rclcpp::NodeOptions)

SlamToolbox()

virtual ~SlamToolbox()

virtual void configure()

virtual void loadPoseGraphByParams()

Protected Functions

void publishVisualizations()

void publishTransformLoop(const double &transform_publish_period)

void setParams()

void setSolver()

void setROSInterfaces()

virtual void laserCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr scan) = 0

bool mapCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<nav_msgs::srv::GetMap::Request> req, std::shared_ptr<nav_msgs::srv::GetMap::Response> res)

virtual bool serializePoseGraphCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Request> req, std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Response> resp)

virtual bool deserializePoseGraphCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Request> req, std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Response> resp)

void loadSerializedPoseGraph(std::unique_ptr<karto::Mapper>&, std::unique_ptr<karto::Dataset>&)

karto::LaserRangeFinder *getLaser(const sensor_msgs::msg::LaserScan::ConstSharedPtr &scan)

virtual karto::LocalizedRangeScan *addScan(karto::LaserRangeFinder *laser, const sensor_msgs::msg::LaserScan::ConstSharedPtr &scan, karto::Pose2 &karto_pose)

karto::LocalizedRangeScan *addScan(karto::LaserRangeFinder *laser, PosedScan &scanWPose)

bool updateMap()

tf2::Stamped<tf2::Transform> setTransformFromPoses(const karto::Pose2 &pose, const karto::Pose2 &karto_pose, const rclcpp::Time &t, const bool &update_reprocessing_transform)

karto::LocalizedRangeScan *getLocalizedRangeScan(karto::LaserRangeFinder *laser, const sensor_msgs::msg::LaserScan::ConstSharedPtr &scan, karto::Pose2 &karto_pose)

bool shouldStartWithPoseGraph(std::string &filename, geometry_msgs::msg::Pose2D &pose, bool &start_at_dock)

bool shouldProcessScan(const sensor_msgs::msg::LaserScan::ConstSharedPtr &scan, const karto::Pose2 &pose)

void publishPose(const Pose2 &pose, const Matrix3 &cov, const rclcpp::Time &t)

bool isPaused(const PausedApplication &app)

bool pauseNewMeasurementsCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<slam_toolbox::srv::Pause::Request> req, std::shared_ptr<slam_toolbox::srv::Pause::Response> resp)

Protected Attributes

std::unique_ptr<tf2_ros::Buffer> tf_

std::unique_ptr<tf2_ros::TransformListener> tfL_

std::unique_ptr<tf2_ros::TransformBroadcaster> tfB_

std::unique_ptr<message_filters::Subscriber<sensor_msgs::msg::LaserScan>> scan_filter_sub_

std::unique_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>> scan_filter_

std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>> sst_

std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::MapMetaData>> sstm_

std::shared_ptr<rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>> pose_pub_

std::shared_ptr<rclcpp::Service<nav_msgs::srv::GetMap>> ssMap_

std::shared_ptr<rclcpp::Service<slam_toolbox::srv::Pause>> ssPauseMeasurements_

std::shared_ptr<rclcpp::Service<slam_toolbox::srv::SerializePoseGraph>> ssSerialize_

std::shared_ptr<rclcpp::Service<slam_toolbox::srv::DeserializePoseGraph>> ssDesserialize_

std::string odom_frame_

std::string map_frame_

std::string base_frame_

std::string map_name_

std::string scan_topic_

bool use_map_saver_

rclcpp::Duration transform_timeout_

rclcpp::Duration minimum_time_interval_

std_msgs::msg::Header scan_header

int throttle_scans_

int scan_queue_size_

double resolution_

double position_covariance_scale_

double yaw_covariance_scale_

bool first_measurement_

bool enable_interactive_mode_

std::unique_ptr<mapper_utils::SMapper> smapper_

std::unique_ptr<karto::Dataset> dataset_

std::map<std::string, laser_utils::LaserMetadata> lasers_

std::unique_ptr<laser_utils::LaserAssistant> laser_assistant_

std::unique_ptr<pose_utils::GetPoseHelper> pose_helper_

std::unique_ptr<map_saver::MapSaver> map_saver_

std::unique_ptr<loop_closure_assistant::LoopClosureAssistant> closure_assistant_

std::unique_ptr<laser_utils::ScanHolder> scan_holder_

std::vector<std::unique_ptr<boost::thread>> threads_

tf2::Transform map_to_odom_

boost::mutex map_to_odom_mutex_

boost::mutex smapper_mutex_

boost::mutex pose_mutex_

PausedState state_

nav_msgs::srv::GetMap::Response map_

ProcessType processor_type_

std::unique_ptr<karto::Pose2> process_near_pose_

tf2::Transform reprocessing_transform_

pluginlib::ClassLoader<karto::ScanSolver> solver_loader_

std::shared_ptr<karto::ScanSolver> solver_