#include <slam_gmapping.h>

Public Member Functions
void	init ()
void	laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan)
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
void	publishLoop (double transform_publish_period)
void	publishTransform ()
	SlamGMapping ()
	SlamGMapping (ros::NodeHandle &nh, ros::NodeHandle &pnh)
	SlamGMapping (unsigned long int seed, unsigned long int max_duration_buffer)
void	startLiveSlam ()
void	startReplay (const std::string &bag_fname, std::string scan_topic)
	~SlamGMapping ()
Private Member Functions
bool	addScan (const sensor_msgs::LaserScan &scan, GMapping::OrientedPoint &gmap_pose)
double	computePoseEntropy ()
bool	getOdomPose (GMapping::OrientedPoint &gmap_pose, const ros::Time &t)
bool	initMapper (const sensor_msgs::LaserScan &scan)
void	updateMap (const sensor_msgs::LaserScan &scan)
Private Attributes
double	angularUpdate_
double	astep_
std::string	base_frame_
tf::Stamped< tf::Pose >	centered_laser_pose_
double	delta_
bool	do_reverse_range_
ros::Publisher	entropy_publisher_
bool	got_first_scan_
bool	got_map_
GMapping::GridSlamProcessor *	gsp_
GMapping::RangeSensor *	gsp_laser_
unsigned int	gsp_laser_beam_count_
GMapping::OdometrySensor *	gsp_odom_
int	iterations_
int	kernelSize_
double	lasamplerange_
double	lasamplestep_
std::vector< double >	laser_angles_
int	laser_count_
std::string	laser_frame_
double	linearUpdate_
double	llsamplerange_
double	llsamplestep_
double	lsigma_
int	lskip_
double	lstep_
nav_msgs::GetMap::Response	map_
std::string	map_frame_
boost::mutex	map_mutex_
tf::Transform	map_to_odom_
boost::mutex	map_to_odom_mutex_
ros::Duration	map_update_interval_
double	maxRange_
double	maxrange_
double	maxUrange_
double	minimum_score_
ros::NodeHandle	node_
double	occ_thresh_
std::string	odom_frame_
double	ogain_
int	particles_
ros::NodeHandle	private_nh_
double	resampleThreshold_
tf::MessageFilter < sensor_msgs::LaserScan > *	scan_filter_
message_filters::Subscriber < sensor_msgs::LaserScan > *	scan_filter_sub_
unsigned long int	seed_
double	sigma_
double	srr_
double	srt_
ros::ServiceServer	ss_
ros::Publisher	sst_
ros::Publisher	sstm_
double	str_
double	stt_
double	temporalUpdate_
tf::TransformListener	tf_
double	tf_delay_
tf::TransformBroadcaster *	tfB_
int	throttle_scans_
double	transform_publish_period_
boost::thread *	transform_thread_
double	xmax_
double	xmin_
double	ymax_
double	ymin_

Detailed Description

Definition at line 33 of file slam_gmapping.h.

Constructor & Destructor Documentation

SlamGMapping::SlamGMapping ( )

Definition at line 129 of file slam_gmapping.cpp.

SlamGMapping::SlamGMapping	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	pnh
	)

Definition at line 137 of file slam_gmapping.cpp.

SlamGMapping::SlamGMapping	(	unsigned long int	seed,
		unsigned long int	max_duration_buffer
	)

SlamGMapping::~SlamGMapping ( )

Definition at line 350 of file slam_gmapping.cpp.

Member Function Documentation

bool SlamGMapping::addScan	(	const sensor_msgs::LaserScan &	scan,
		GMapping::OrientedPoint &	gmap_pose
	)		`[private]`

Definition at line 538 of file slam_gmapping.cpp.

double SlamGMapping::computePoseEntropy ( ) [private]

Definition at line 642 of file slam_gmapping.cpp.

bool SlamGMapping::getOdomPose	(	GMapping::OrientedPoint &	gmap_pose,
		const ros::Time &	t
	)		`[private]`

Definition at line 369 of file slam_gmapping.cpp.

void SlamGMapping::init ( )

Definition at line 154 of file slam_gmapping.cpp.

bool SlamGMapping::initMapper ( const sensor_msgs::LaserScan & scan ) [private]

Todo:: Expose setting an initial pose

Todo:: Check these calls; in the gmapping gui, they use llsamplestep and llsamplerange intead of lasamplestep and lasamplerange. It was probably a typo, but who knows.

Definition at line 393 of file slam_gmapping.cpp.

void SlamGMapping::laserCallback ( const sensor_msgs::LaserScan::ConstPtr & scan )

Definition at line 597 of file slam_gmapping.cpp.