#include <OctomapServer.h>

Public Types
typedef octomap_msgs::BoundingBoxQuery	BBXSrv
typedef octomap_msgs::GetOctomap	OctomapSrv
typedef octomap::ColorOcTree	OcTreeT
typedef pcl::PointXYZRGB	PCLPoint
typedef pcl::PointCloud < pcl::PointXYZRGB >	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 before 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 OcTreeT::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
std_msgs::Float64MultiArray	m_frontier_points
ros::Publisher	m_frontiermarkerPub
ros::Publisher	m_frontierPointsPub
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
OcTreeT *	m_octree
octomap::OcTreeKey	m_paddedMinKey
double	m_pointcloudMaxZ
double	m_pointcloudMinZ
ros::Publisher	m_pointCloudPub
message_filters::Subscriber < sensor_msgs::PointCloud2 > *	m_pointCloudSub
bool	m_projectCompleteMap
bool	m_publish2DMap
bool	m_publishFreeSpace
bool	m_publishFrontierSpace
dynamic_reconfigure::Server < OctomapServerConfig >	m_reconfigureServer
double	m_res
ros::ServiceServer	m_resetService
tf::TransformListener	m_tfListener
tf::MessageFilter < sensor_msgs::PointCloud2 > *	m_tfPointCloudSub
unsigned	m_treeDepth
octomap::OcTreeKey	m_updateBBXMax
octomap::OcTreeKey	m_updateBBXMin
bool	m_useColoredMap
bool	m_useHeightMap
std::string	m_worldFrameId

Detailed Description

Definition at line 81 of file OctomapServer.h.

Member Typedef Documentation

typedef octomap_msgs::BoundingBoxQuery octomap_server::OctomapServer::BBXSrv

Definition at line 94 of file OctomapServer.h.

typedef octomap_msgs::GetOctomap octomap_server::OctomapServer::OctomapSrv

Definition at line 93 of file OctomapServer.h.

typedef octomap::ColorOcTree octomap_server::OctomapServer::OcTreeT

Definition at line 87 of file OctomapServer.h.

typedef pcl::PointXYZRGB octomap_server::OctomapServer::PCLPoint

Definition at line 85 of file OctomapServer.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> octomap_server::OctomapServer::PCLPointCloud

Definition at line 86 of file OctomapServer.h.

Constructor & Destructor Documentation

octomap_server::OctomapServer::OctomapServer ( ros::NodeHandle private_nh_ = ros::NodeHandle("~") )

Definition at line 37 of file OctomapServer.cpp.

octomap_server::OctomapServer::~OctomapServer ( ) [virtual]

Definition at line 188 of file OctomapServer.cpp.

Member Function Documentation

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 1245 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::clearBBXSrv	(	BBXSrv::Request &	req,
		BBXSrv::Response &	resp
	)

Definition at line 823 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 914 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 1146 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 1160 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 1139 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 1153 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handlePostNodeTraversal ( const ros::Time & rostime ) [protected, virtual]

hook that is called after traversing all nodes

Definition at line 1133 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handlePreNodeTraversal ( const ros::Time & rostime ) [protected, virtual]

hook that is called before traversing all nodes

Definition at line 1023 of file OctomapServer.cpp.

std_msgs::ColorRGBA octomap_server::OctomapServer::heightMapColor ( double h ) [static, protected]

Definition at line 1286 of file OctomapServer.cpp.

void octomap_server::OctomapServer::insertCloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud ) [virtual]

Definition at line 262 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.

Parameters:

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)

Definition at line 344 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::isInUpdateBBX ( const OcTreeT::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!

Parameters:

key

Returns:

Definition at line 1200 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::mapChanged	(	const nav_msgs::MapMetaData &	oldMapInfo,
		const nav_msgs::MapMetaData &	newMapInfo
	)		`[inline, protected]`