#include <HectorMappingRos.h>

Public Member Functions
	HectorMappingRos ()
void	initialPoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
void	publishMap (MapPublisherContainer &map_, const hectorslam::GridMap &gridMap, ros::Time timestamp, MapLockerInterface *mapMutex=0)
void	publishMapLoop (double p_map_pub_period_)
void	publishTransform ()
void	publishTransformLoop (double p_transform_pub_period_)
bool	rosLaserScanToDataContainer (const sensor_msgs::LaserScan &scan, hectorslam::DataContainer &dataContainer, float scaleToMap)
bool	rosPointCloudToDataContainer (const sensor_msgs::PointCloud &pointCloud, const tf::StampedTransform &laserTransform, hectorslam::DataContainer &dataContainer, float scaleToMap)
void	scanCallback (const sensor_msgs::LaserScan &scan)
void	setServiceGetMapData (nav_msgs::GetMap::Response &map_, const hectorslam::GridMap &gridMap)
void	staticMapCallback (const nav_msgs::OccupancyGrid &map)
void	sysMsgCallback (const std_msgs::String &string)
	~HectorMappingRos ()
Protected Attributes
HectorDebugInfoProvider *	debugInfoProvider
HectorDrawings *	hectorDrawings
Eigen::Vector3f	initial_pose_
tf::MessageFilter < geometry_msgs::PoseWithCovarianceStamped > *	initial_pose_filter_
bool	initial_pose_set_
message_filters::Subscriber < geometry_msgs::PoseWithCovarianceStamped > *	initial_pose_sub_
sensor_msgs::PointCloud	laser_point_cloud_
hectorslam::DataContainer	laserScanContainer
int	lastGetMapUpdateIndex
ros::Time	lastMapPublishTime
ros::Time	lastScanTime
Eigen::Vector3f	lastSlamPose
boost::thread *	map__publish_thread_
tf::Transform	map_to_odom_
std::vector < MapPublisherContainer >	mapPubContainer
ros::Subscriber	mapSubscriber_
ros::NodeHandle	node_
ros::Publisher	odometryPublisher_
bool	p_advertise_map_service_
std::string	p_base_frame_
float	p_laser_z_max_value_
float	p_laser_z_min_value_
std::string	p_map_frame_
int	p_map_multi_res_levels_
double	p_map_pub_period_
double	p_map_resolution_
int	p_map_size_
double	p_map_start_x_
double	p_map_start_y_
double	p_map_update_angle_threshold_
double	p_map_update_distance_threshold_
bool	p_map_with_known_poses_
std::string	p_odom_frame_
std::string	p_pose_update_topic_
bool	p_pub_debug_output_
bool	p_pub_drawings
bool	p_pub_map_odom_transform_
bool	p_pub_map_scanmatch_transform_
bool	p_pub_odometry_
int	p_scan_subscriber_queue_size_
std::string	p_scan_topic_
float	p_sqr_laser_max_dist_
float	p_sqr_laser_min_dist_
std::string	p_sys_msg_topic_
std::string	p_tf_map_scanmatch_transform_frame_name_
bool	p_timing_output_
std::string	p_twist_update_topic_
double	p_update_factor_free_
double	p_update_factor_occupied_
bool	p_use_tf_pose_start_estimate_
bool	p_use_tf_scan_transformation_
PoseInfoContainer	poseInfoContainer_
ros::Publisher	posePublisher_
ros::Publisher	poseUpdatePublisher_
laser_geometry::LaserProjection	projector_
ros::Publisher	scan_point_cloud_publisher_
ros::Subscriber	scanSubscriber_
hectorslam::HectorSlamProcessor *	slamProcessor
ros::Subscriber	sysMsgSubscriber_
tf::TransformListener	tf_
tf::TransformBroadcaster *	tfB_
ros::Publisher	twistUpdatePublisher_

Detailed Description

Definition at line 67 of file HectorMappingRos.h.

Constructor & Destructor Documentation

HectorMappingRos::HectorMappingRos ( )

Definition at line 46 of file HectorMappingRos.cpp.

HectorMappingRos::~HectorMappingRos ( )

Definition at line 212 of file HectorMappingRos.cpp.

Member Function Documentation

void HectorMappingRos::initialPoseCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg )

Definition at line 545 of file HectorMappingRos.cpp.

bool HectorMappingRos::mapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

Definition at line 366 of file HectorMappingRos.cpp.

void HectorMappingRos::publishMap	(	MapPublisherContainer &	map_,
		const hectorslam::GridMap &	gridMap,
		ros::Time	timestamp,
		MapLockerInterface *	mapMutex = `0`
	)

Definition at line 374 of file HectorMappingRos.cpp.

void HectorMappingRos::publishMapLoop ( double p_map_pub_period_ )

Definition at line 520 of file HectorMappingRos.cpp.

void HectorMappingRos::publishTransform ( )

void HectorMappingRos::publishTransformLoop ( double p_transform_pub_period_ )

bool HectorMappingRos::rosLaserScanToDataContainer	(	const sensor_msgs::LaserScan &	scan,
		hectorslam::DataContainer &	dataContainer,
		float	scaleToMap
	)

Definition at line 422 of file HectorMappingRos.cpp.

bool HectorMappingRos::rosPointCloudToDataContainer	(	const sensor_msgs::PointCloud &	pointCloud,
		const tf::StampedTransform &	laserTransform,
		hectorslam::DataContainer &	dataContainer,
		float	scaleToMap
	)