LocalObstaclesNode Class Reference

List of all members.

Classes
struct	TAuxInitializer
struct	TInfoPerTimeStep
Public Member Functions
	LocalObstaclesNode (int argc, char **argv)
Private Types
typedef std::multimap< double, TInfoPerTimeStep >	TListObservations
Private Member Functions
void	onDoPublish (const ros::TimerEvent &)
void	onNewSensor_Laser2D (const sensor_msgs::LaserScanConstPtr &scan)
template<typename CALLBACK_METHOD_TYPE >
size_t	subscribeToMultipleTopics (const std::string &lstTopics, std::vector< ros::Subscriber > &subs, CALLBACK_METHOD_TYPE cb)
	Subscribe to a variable number of topics.
Private Attributes
TAuxInitializer	m_auxinit
	Just to make sure ROS is init first.
std::string	m_frameid_reference
	typ: "odom"
std::string	m_frameid_robot
	typ: "base_link"
mrpt::gui::CDisplayWindow3D::Ptr	m_gui_win
TListObservations	m_hist_obs
boost::mutex	m_hist_obs_mtx
	the interest time window.
CSimplePointsMap	m_localmap_pts
ros::NodeHandle	m_localn
	"~"
ros::NodeHandle	m_nh
	The node handle.
mrpt::utils::CTimeLogger	m_profiler
double	m_publish_period
	than m_publish_period
bool	m_show_gui
std::string	m_source_topics_2dscan
	Default: "scan,laser1".
double	m_time_window
ros::Timer	m_timer_publish
	than m_time_window
std::string	m_topic_local_map_pointcloud
	Default: "local_map_pointcloud".
ROS pubs/subs
ros::Publisher	m_pub_local_map_pointcloud
std::vector< ros::Subscriber >	m_subs_2dlaser
	Subscriber to 2D laser scans.
tf::TransformListener	m_tf_listener
	Use to retrieve TF data.

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Detailed Description

Definition at line 64 of file mrpt_local_obstacles_node.cpp.

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Member Typedef Documentation

typedef std::multimap<double, TInfoPerTimeStep> LocalObstaclesNode::TListObservations [private]

Definition at line 99 of file mrpt_local_obstacles_node.cpp.

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Constructor & Destructor Documentation

LocalObstaclesNode::LocalObstaclesNode	(	int	argc,
		char **	argv
	)		[inline]

Constructor: Inits ROS system

Definition at line 378 of file mrpt_local_obstacles_node.cpp.

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Member Function Documentation

void LocalObstaclesNode::onDoPublish

(

const ros::TimerEvent &

)

[inline, private]

Callback: On recalc local map & publish it

Definition at line 222 of file mrpt_local_obstacles_node.cpp.

void LocalObstaclesNode::onNewSensor_Laser2D

(

const sensor_msgs::LaserScanConstPtr &

scan

)

[inline, private]

Callback: On new sensor data

Definition at line 139 of file mrpt_local_obstacles_node.cpp.

template<typename CALLBACK_METHOD_TYPE >

size_t LocalObstaclesNode::subscribeToMultipleTopics	(	const std::string &	lstTopics,
		std::vector< ros::Subscriber > &	subs,
		CALLBACK_METHOD_TYPE	cb
	)		[inline, private]

Subscribe to a variable number of topics.

Parameters:

lstTopics	String with list of topics separated with ","
subs[in,out]	List of subscribers will be here at return.

Returns:

The number of topics subscribed to.

Definition at line 125 of file mrpt_local_obstacles_node.cpp.

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Member Data Documentation

TAuxInitializer LocalObstaclesNode::m_auxinit [private]

Just to make sure ROS is init first.

Definition at line 77 of file mrpt_local_obstacles_node.cpp.

std::string LocalObstaclesNode::m_frameid_reference [private]

typ: "odom"

Definition at line 81 of file mrpt_local_obstacles_node.cpp.

std::string LocalObstaclesNode::m_frameid_robot [private]

typ: "base_link"

Definition at line 82 of file mrpt_local_obstacles_node.cpp.

mrpt::gui::CDisplayWindow3D::Ptr LocalObstaclesNode::m_gui_win [private]

Definition at line 108 of file mrpt_local_obstacles_node.cpp.

TListObservations LocalObstaclesNode::m_hist_obs [private]

The history of past observations during

Definition at line 100 of file mrpt_local_obstacles_node.cpp.

boost::mutex LocalObstaclesNode::m_hist_obs_mtx [private]

the interest time window.

Definition at line 102 of file mrpt_local_obstacles_node.cpp.

CSimplePointsMap LocalObstaclesNode::m_localmap_pts [private]

The local maps

Definition at line 105 of file mrpt_local_obstacles_node.cpp.

ros::NodeHandle LocalObstaclesNode::m_localn [private]

"~"

Definition at line 79 of file mrpt_local_obstacles_node.cpp.

ros::NodeHandle LocalObstaclesNode::m_nh [private]

The node handle.

Definition at line 78 of file mrpt_local_obstacles_node.cpp.

mrpt::utils::CTimeLogger LocalObstaclesNode::m_profiler [private]

Definition at line 75 of file mrpt_local_obstacles_node.cpp.

ros::Publisher LocalObstaclesNode::m_pub_local_map_pointcloud [private]

Definition at line 112 of file mrpt_local_obstacles_node.cpp.

double LocalObstaclesNode::m_publish_period [private]

than m_publish_period

In secs (default: 0.05). This can't be larger

Definition at line 88 of file mrpt_local_obstacles_node.cpp.

bool LocalObstaclesNode::m_show_gui [private]

Definition at line 80 of file mrpt_local_obstacles_node.cpp.

std::string LocalObstaclesNode::m_source_topics_2dscan [private]

Default: "scan,laser1".

Definition at line 85 of file mrpt_local_obstacles_node.cpp.

std::vector<ros::Subscriber> LocalObstaclesNode::m_subs_2dlaser [private]

Subscriber to 2D laser scans.

Definition at line 114 of file mrpt_local_obstacles_node.cpp.

tf::TransformListener LocalObstaclesNode::m_tf_listener [private]

Use to retrieve TF data.

Definition at line 115 of file mrpt_local_obstacles_node.cpp.

double LocalObstaclesNode::m_time_window [private]

In secs (default: 0.2). This can't be smaller

Definition at line 86 of file mrpt_local_obstacles_node.cpp.

ros::Timer LocalObstaclesNode::m_timer_publish [private]

than m_time_window

Definition at line 91 of file mrpt_local_obstacles_node.cpp.

std::string LocalObstaclesNode::m_topic_local_map_pointcloud [private]

Default: "local_map_pointcloud".

Definition at line 84 of file mrpt_local_obstacles_node.cpp.

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

• mrpt_local_obstacles_node.cpp