The ICPslamWrapper class provides 2d icp based SLAM from MRPT libraries. More...

#include <mrpt_icp_slam_2d_wrapper.h>

Public Member Functions
void	get_param ()
	read the parameters from launch file
	ICPslamWrapper ()
	constructor
void	init ()
	initialize publishers subscribers and icp slam
void	init3Dwindow ()
	init 3D window from mrpt lib
bool	is_file_exists (const std::string &name)
	check the existance of the file
void	laserCallback (const sensor_msgs::LaserScan &_msg)
	callback function for the laser scans
void	publishMapPose ()
	publish point and/or grid map and robot pose
void	publishTF ()
	publis tf tree
void	publishTrajectoryTimerCallback (const ros::TimerEvent &event)
	the callback for publish trajectory
bool	rawlogPlay ()
	play rawlog file
void	read_iniFile (std::string ini_filename)
	read ini file
void	run3Dwindow ()
	run 3D window update from mrpt lib
void	updateSensorPose (std::string _frame_id)
	update the pose of the sensor with respect to the robot
void	updateTrajectoryTimerCallback (const ros::TimerEvent &event)
	the callback for update trajectory
	~ICPslamWrapper ()
	destructor
Protected Attributes
std::string	base_frame_id
	robot frame
bool	CAMERA_3DSCENE_FOLLOWS_ROBOT
std::string	global_frame_id
	/map frame
std::string	ini_filename
	name of ini file
bool	isObsBasedRawlog
std::map< std::string, mrpt::poses::CPose3D >	laser_poses_
	laser scan poses with respect to the map
tf::TransformListener	listenerTF_
	transform listener
std::vector < CObservation2DRangeScanPtr >	lst_current_laser_scans
CMetricMapBuilderICP	mapBuilder
	icp slam class
const CMultiMetricMap *	metric_map_
	receive map after iteration of SLAM to metric map
ros::NodeHandle	n_
	Node Handle.
CObservationPtr	observation
CSensoryFramePtr	observations
std::string	odom_frame_id
	/odom frame
nav_msgs::Path	path
	trajectory path
geometry_msgs::PoseStamped	pose
	the robot pose
ros::Publisher	pub_map_
ros::Publisher	pub_metadata_
ros::Publisher	pub_point_cloud_
	publishers for map and pose particles
ros::Publisher	pub_pose_
ros::Timer	publish_trajectory_timer
	timer for publish trajectory
std::string	rawlog_filename
	name of rawlog file
bool	rawlog_play_
	true if rawlog file exists
double	rawlog_play_delay
	delay of replay from rawlog file
std::string	sensor_source
	2D laser scans
std::vector< ros::Subscriber >	sensorSub_
	list of sensors topics
bool	SHOW_LASER_SCANS_3D
bool	SHOW_PROGRESS_3D_REAL_TIME
int	SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS
ros::Time	stamp
	timestamp for observations
float	t_exec
	the time which take one SLAM update execution
tf::TransformBroadcaster	tf_broadcaster_
	transform broadcaster
CTicTac	tictac
	timer for SLAM performance evaluation
mrpt::system::TTimeStamp	timeLastUpdate_
	last update of the pose and map
ros::Publisher	trajectory_pub_
	trajectory publisher
double	trajectory_publish_rate
	trajectory publish rate(Hz)
double	trajectory_update_rate
	trajectory update rate(Hz)
ros::Timer	update_trajector_timer
	timer for update trajectory
mrpt::gui::CDisplayWindow3DPtr	win3D_
	MRPT window.

Detailed Description

The ICPslamWrapper class provides 2d icp based SLAM from MRPT libraries.

Definition at line 94 of file mrpt_icp_slam_2d_wrapper.h.

Constructor & Destructor Documentation

ICPslamWrapper::ICPslamWrapper ( )

constructor

Definition at line 13 of file mrpt_icp_slam_2d_wrapper.cpp.

ICPslamWrapper::~ICPslamWrapper ( )

destructor

Definition at line 24 of file mrpt_icp_slam_2d_wrapper.cpp.

Member Function Documentation

void ICPslamWrapper::get_param ( )

read the parameters from launch file

Definition at line 83 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::init ( )

initialize publishers subscribers and icp slam

Create publishers///

Create subscribers///

Definition at line 255 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::init3Dwindow ( )

init 3D window from mrpt lib

Definition at line 113 of file mrpt_icp_slam_2d_wrapper.cpp.

bool ICPslamWrapper::is_file_exists ( const std::string & name )

check the existance of the file

Returns:: true if file exists

Definition at line 47 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::laserCallback ( const sensor_msgs::LaserScan & _msg )

callback function for the laser scans

Given the laser scans, implement one SLAM update, publish map and pose.

Parameters:

_msg	the laser scan message

Definition at line 313 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishMapPose ( )

publish point and/or grid map and robot pose

Definition at line 343 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishTF ( )

publis tf tree

Definition at line 497 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishTrajectoryTimerCallback ( const ros::TimerEvent & event )

the callback for publish trajectory

Parameters:

event the event for publish trajectory

Definition at line 536 of file mrpt_icp_slam_2d_wrapper.cpp.

bool ICPslamWrapper::rawlogPlay ( )

play rawlog file

Returns:: true if rawlog file exists and played

Definition at line 411 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::read_iniFile ( std::string ini_filename )

read ini file

Parameters:

ini_filename the name of the ini file to read

Definition at line 53 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::run3Dwindow ( )

run 3D window update from mrpt lib

Definition at line 126 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::updateSensorPose ( std::string _frame_id )

update the pose of the sensor with respect to the robot

Parameters:

frame_id the frame of the sensors

Definition at line 383 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::updateTrajectoryTimerCallback ( const ros::TimerEvent & event )

the callback for update trajectory

Parameters:

event the event for update trajectory

Definition at line 528 of file mrpt_icp_slam_2d_wrapper.cpp.

Member Data Documentation

std::string ICPslamWrapper::base_frame_id [protected]

robot frame

Definition at line 191 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::CAMERA_3DSCENE_FOLLOWS_ROBOT [protected]

Definition at line 232 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::global_frame_id [protected]

/map frame

Definition at line 189 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::ini_filename [protected]

name of ini file

Definition at line 188 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::isObsBasedRawlog [protected]

Definition at line 228 of file mrpt_icp_slam_2d_wrapper.h.

std::map<std::string, mrpt::poses::CPose3D> ICPslamWrapper::laser_poses_ [protected]

laser scan poses with respect to the map

Definition at line 205 of file mrpt_icp_slam_2d_wrapper.h.

tf::TransformListener ICPslamWrapper::listenerTF_ [protected]

transform listener

Definition at line 214 of file mrpt_icp_slam_2d_wrapper.h.

std::vector<CObservation2DRangeScanPtr> ICPslamWrapper::lst_current_laser_scans [protected]

Definition at line 227 of file mrpt_icp_slam_2d_wrapper.h.

CMetricMapBuilderICP ICPslamWrapper::mapBuilder [protected]

icp slam class

Definition at line 182 of file mrpt_icp_slam_2d_wrapper.h.

const CMultiMetricMap* ICPslamWrapper::metric_map_ [protected]

receive map after iteration of SLAM to metric map

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::NodeHandle ICPslamWrapper::n_ [protected]

Node Handle.

Definition at line 183 of file mrpt_icp_slam_2d_wrapper.h.

CObservationPtr ICPslamWrapper::observation [protected]

Definition at line 220 of file mrpt_icp_slam_2d_wrapper.h.

CSensoryFramePtr ICPslamWrapper::observations [protected]

Definition at line 219 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::odom_frame_id [protected]

/odom frame

Definition at line 190 of file mrpt_icp_slam_2d_wrapper.h.

nav_msgs::Path ICPslamWrapper::path [protected]

trajectory path

Definition at line 195 of file mrpt_icp_slam_2d_wrapper.h.

geometry_msgs::PoseStamped ICPslamWrapper::pose [protected]

the robot pose

Definition at line 192 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_map_ [protected]

Definition at line 212 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_metadata_ [protected]

Definition at line 212 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_point_cloud_ [protected]

publishers for map and pose particles

Definition at line 212 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_pose_ [protected]

Definition at line 212 of file mrpt_icp_slam_2d_wrapper.h.

ros::Timer ICPslamWrapper::publish_trajectory_timer [protected]

timer for publish trajectory

Definition at line 198 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::rawlog_filename [protected]

name of rawlog file

Definition at line 187 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::rawlog_play_ [protected]

true if rawlog file exists

Definition at line 185 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::rawlog_play_delay [protected]

delay of replay from rawlog file

Definition at line 184 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::sensor_source [protected]

2D laser scans

Definition at line 204 of file mrpt_icp_slam_2d_wrapper.h.

std::vector<ros::Subscriber> ICPslamWrapper::sensorSub_ [protected]

list of sensors topics

Definition at line 208 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::SHOW_LASER_SCANS_3D [protected]

Definition at line 231 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::SHOW_PROGRESS_3D_REAL_TIME [protected]

Definition at line 229 of file mrpt_icp_slam_2d_wrapper.h.

int ICPslamWrapper::SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS [protected]

Definition at line 230 of file mrpt_icp_slam_2d_wrapper.h.

ros::Time ICPslamWrapper::stamp [protected]

timestamp for observations

Definition at line 223 of file mrpt_icp_slam_2d_wrapper.h.

float ICPslamWrapper::t_exec [protected]

the time which take one SLAM update execution

Definition at line 218 of file mrpt_icp_slam_2d_wrapper.h.

tf::TransformBroadcaster ICPslamWrapper::tf_broadcaster_ [protected]

transform broadcaster

Definition at line 215 of file mrpt_icp_slam_2d_wrapper.h.

CTicTac ICPslamWrapper::tictac [protected]

timer for SLAM performance evaluation

Definition at line 217 of file mrpt_icp_slam_2d_wrapper.h.

mrpt::system::TTimeStamp ICPslamWrapper::timeLastUpdate_ [protected]

last update of the pose and map

Definition at line 221 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::trajectory_pub_ [protected]

trajectory publisher

Definition at line 194 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::trajectory_publish_rate [protected]

trajectory publish rate(Hz)

Definition at line 201 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::trajectory_update_rate [protected]

trajectory update rate(Hz)

Definition at line 200 of file mrpt_icp_slam_2d_wrapper.h.

ros::Timer ICPslamWrapper::update_trajector_timer [protected]

timer for update trajectory

Definition at line 197 of file mrpt_icp_slam_2d_wrapper.h.

mrpt::gui::CDisplayWindow3DPtr ICPslamWrapper::win3D_ [protected]

MRPT window.

Definition at line 225 of file mrpt_icp_slam_2d_wrapper.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation