GuiWrapper.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef GUIWRAPPER_H_
00029 #define GUIWRAPPER_H_
00030 
00031 #include <ros/ros.h>
00032 #include "rtabmap_ros/Info.h"
00033 #include "rtabmap_ros/MapData.h"
00034 #include "rtabmap_ros/OdomInfo.h"
00035 #include "rtabmap_ros/Goal.h"
00036 #include "rtabmap/utilite/UEventsHandler.h"
00037 #include "rtabmap/core/Transform.h"
00038 
00039 #include <tf/transform_listener.h>
00040 
00041 #include <geometry_msgs/TwistStamped.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 #include <sensor_msgs/Image.h>
00044 #include <sensor_msgs/CameraInfo.h>
00045 #include <sensor_msgs/LaserScan.h>
00046 #include <nav_msgs/Odometry.h>
00047 #include <nav_msgs/Path.h>
00048 #include <std_msgs/Bool.h>
00049 
00050 #include <message_filters/subscriber.h>
00051 #include <message_filters/synchronizer.h>
00052 #include <message_filters/sync_policies/approximate_time.h>
00053 #include <message_filters/sync_policies/exact_time.h>
00054 
00055 #include <image_transport/image_transport.h>
00056 #include <image_transport/subscriber_filter.h>
00057 
00058 namespace rtabmap
00059 {
00060         class MainWindow;
00061 }
00062 
00063 class QApplication;
00064 
00065 class GuiWrapper : public UEventsHandler
00066 {
00067 public:
00068         GuiWrapper(int & argc, char** argv);
00069         virtual ~GuiWrapper();
00070 
00071 protected:
00072         virtual void handleEvent(UEvent * anEvent);
00073 
00074 private:
00075         void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
00076         void goalPathCallback(const rtabmap_ros::GoalConstPtr & goalMsg, const nav_msgs::PathConstPtr & pathMsg);
00077         void goalReachedCallback(const std_msgs::BoolConstPtr & value);
00078 
00079         void setupCallbacks(
00080                         bool subscribeDepth,
00081                         bool subscribeLaserScan2d,
00082                         bool subscribeLaserScan3d,
00083                         bool subscribeOdomInfo,
00084                         bool subscribeStereo,
00085                         int queueSize,
00086                         int depthCameras);
00087 
00088         void commonDepthCallback(
00089                         const nav_msgs::OdometryConstPtr & odomMsg,
00090                         const sensor_msgs::ImageConstPtr& imageMsg,
00091                         const sensor_msgs::ImageConstPtr& depthMsg,
00092                         const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
00093                         const sensor_msgs::LaserScanConstPtr& scan2dMsg,
00094                         const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
00095                         const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
00096         void commonDepthCallback(
00097                         const nav_msgs::OdometryConstPtr & odomMsg,
00098                         const std::vector<sensor_msgs::ImageConstPtr> & imageMsgs,
00099                         const std::vector<sensor_msgs::ImageConstPtr> & depthMsgs,
00100                         const std::vector<sensor_msgs::CameraInfoConstPtr> & cameraInfoMsgs,
00101                         const sensor_msgs::LaserScanConstPtr& scan2dMsg,
00102                         const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
00103                         const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
00104         void commonStereoCallback(
00105                         const nav_msgs::OdometryConstPtr & odomMsg,
00106                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00107                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00108                         const sensor_msgs::CameraInfoConstPtr& leftCamInfoMsg,
00109                         const sensor_msgs::CameraInfoConstPtr& rightCamInfoMsg,
00110                         const sensor_msgs::LaserScanConstPtr& scan2dMsg,
00111                         const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
00112                         const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
00113 
00114         void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg);
00115 
00116         // With odom msg
00117         void depthCallback(
00118                         const nav_msgs::OdometryConstPtr & odomMsg,
00119                         const sensor_msgs::ImageConstPtr& imageMsg,
00120                         const sensor_msgs::ImageConstPtr& imageDepthMsg,
00121                         const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
00122         void depth2Callback(
00123                         const nav_msgs::OdometryConstPtr & odomMsg,
00124                         const sensor_msgs::ImageConstPtr& image1Msg,
00125                         const sensor_msgs::ImageConstPtr& depth1Msg,
00126                         const sensor_msgs::CameraInfoConstPtr& cameraInfo1Msg,
00127                         const sensor_msgs::ImageConstPtr& image2Msg,
00128                         const sensor_msgs::ImageConstPtr& depth2Msg,
00129                         const sensor_msgs::CameraInfoConstPtr& cameraInfo2Msg);
00130         void depthOdomInfoCallback(
00131                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00132                         const nav_msgs::OdometryConstPtr & odomMsg,
00133                         const sensor_msgs::ImageConstPtr& imageMsg,
00134                         const sensor_msgs::ImageConstPtr& depthMsg,
00135                         const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
00136         void depthOdomInfo2Callback(
00137                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00138                         const nav_msgs::OdometryConstPtr & odomMsg,
00139                         const sensor_msgs::ImageConstPtr& image1Msg,
00140                         const sensor_msgs::ImageConstPtr& depth1Msg,
00141                         const sensor_msgs::CameraInfoConstPtr& cameraInfo1Msg,
00142                         const sensor_msgs::ImageConstPtr& image2Msg,
00143                         const sensor_msgs::ImageConstPtr& depth2Msg,
00144                         const sensor_msgs::CameraInfoConstPtr& cameraInfo2Msg);
00145         void depthScanCallback(
00146                         const sensor_msgs::LaserScanConstPtr& scanMsg,
00147                         const nav_msgs::OdometryConstPtr & odomMsg,
00148                         const sensor_msgs::ImageConstPtr& imageMsg,
00149                     const sensor_msgs::ImageConstPtr& imageDepthMsg,
00150                     const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
00151         void depthScanOdomInfoCallback(
00152                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00153                         const sensor_msgs::LaserScanConstPtr& scanMsg,
00154                         const nav_msgs::OdometryConstPtr & odomMsg,
00155                         const sensor_msgs::ImageConstPtr& imageMsg,
00156                         const sensor_msgs::ImageConstPtr& imageDepthMsg,
00157                         const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
00158         void depthScan3dCallback(
00159                         const sensor_msgs::PointCloud2ConstPtr& scanMsg,
00160                         const nav_msgs::OdometryConstPtr & odomMsg,
00161                         const sensor_msgs::ImageConstPtr& imageMsg,
00162                         const sensor_msgs::ImageConstPtr& imageDepthMsg,
00163                         const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
00164         void depthScan3dOdomInfoCallback(
00165                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00166                         const sensor_msgs::PointCloud2ConstPtr& scanMsg,
00167                         const nav_msgs::OdometryConstPtr & odomMsg,
00168                         const sensor_msgs::ImageConstPtr& imageMsg,
00169                         const sensor_msgs::ImageConstPtr& imageDepthMsg,
00170                         const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
00171 
00172         void stereoScanCallback(
00173                         const sensor_msgs::LaserScanConstPtr& scanMsg,
00174                         const nav_msgs::OdometryConstPtr & odomMsg,
00175                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00176                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00177                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00178                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00179         void stereoScanOdomInfoCallback(
00180                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00181                         const sensor_msgs::LaserScanConstPtr& scanMsg,
00182                         const nav_msgs::OdometryConstPtr & odomMsg,
00183                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00184                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00185                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00186                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00187         void stereoScan3dCallback(
00188                         const sensor_msgs::PointCloud2ConstPtr& scanMsg,
00189                         const nav_msgs::OdometryConstPtr & odomMsg,
00190                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00191                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00192                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00193                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00194         void stereoScan3dOdomInfoCallback(
00195                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00196                         const sensor_msgs::PointCloud2ConstPtr& scanMsg,
00197                         const nav_msgs::OdometryConstPtr & odomMsg,
00198                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00199                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00200                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00201                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00202         void stereoOdomInfoCallback(
00203                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00204                         const nav_msgs::OdometryConstPtr & odomMsg,
00205                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00206                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00207                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00208                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00209         void stereoCallback(
00210                         const nav_msgs::OdometryConstPtr & odomMsg,
00211                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00212                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00213                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00214                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00215 
00216         // with TF
00217         void depthTFCallback(const sensor_msgs::ImageConstPtr& imageMsg,
00218                                            const sensor_msgs::ImageConstPtr& imageDepthMsg,
00219                                            const sensor_msgs::CameraInfoConstPtr& camInfoMsg);
00220         void depthOdomInfoTFCallback(
00221                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00222                         const sensor_msgs::ImageConstPtr& imageMsg,
00223                         const sensor_msgs::ImageConstPtr& depthMsg,
00224                         const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
00225         void depthScanTFCallback(
00226                         const sensor_msgs::LaserScanConstPtr& scanMsg,
00227                         const sensor_msgs::ImageConstPtr& imageMsg,
00228                     const sensor_msgs::ImageConstPtr& imageDepthMsg,
00229                     const sensor_msgs:: CameraInfoConstPtr& camInfoMsg);
00230         void depthScan3dTFCallback(
00231                         const sensor_msgs::PointCloud2ConstPtr& scanMsg,
00232                         const sensor_msgs::ImageConstPtr& imageMsg,
00233                         const sensor_msgs::ImageConstPtr& imageDepthMsg,
00234                         const sensor_msgs:: CameraInfoConstPtr& camInfoMsg);
00235 
00236         void stereoScanTFCallback(
00237                         const sensor_msgs::LaserScanConstPtr& scanMsg,
00238                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00239                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00240                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00241                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00242         void stereoScan3dTFCallback(
00243                         const sensor_msgs::PointCloud2ConstPtr& scanMsg,
00244                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00245                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00246                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00247                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00248         void stereoOdomInfoTFCallback(
00249                         const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg,
00250                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00251                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00252                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00253                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00254         void stereoTFCallback(
00255                         const sensor_msgs::ImageConstPtr& leftImageMsg,
00256                         const sensor_msgs::ImageConstPtr& rightImageMsg,
00257                         const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
00258                         const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg);
00259 
00260         void processRequestedMap(const rtabmap_ros::MapData & map);
00261         rtabmap::Transform getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const;
00262 
00263 private:
00264         rtabmap::MainWindow * mainWindow_;
00265         std::string cameraNodeName_;
00266         double lastOdomInfoUpdateTime_;
00267 
00268         // odometry subscription stuffs
00269         std::string frameId_;
00270         std::string odomFrameId_;
00271         bool waitForTransform_;
00272         double waitForTransformDuration_;
00273         tf::TransformListener tfListener_;
00274 
00275         message_filters::Subscriber<rtabmap_ros::Info> infoTopic_;
00276         message_filters::Subscriber<rtabmap_ros::MapData> mapDataTopic_;
00277 
00278         message_filters::Subscriber<rtabmap_ros::Goal> goalTopic_;
00279         message_filters::Subscriber<nav_msgs::Path> pathTopic_;
00280         ros::Subscriber goalReachedTopic_;
00281 
00282         ros::Subscriber defaultSub_; // odometry only
00283         std::vector<image_transport::SubscriberFilter*> imageSubs_;
00284         std::vector<image_transport::SubscriberFilter*> imageDepthSubs_;
00285         std::vector<message_filters::Subscriber<sensor_msgs::CameraInfo>* > cameraInfoSubs_;
00286         message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
00287         message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
00288         message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
00289         message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
00290 
00291         image_transport::SubscriberFilter imageRectLeft_;
00292         image_transport::SubscriberFilter imageRectRight_;
00293         message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
00294         message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
00295 
00296         typedef message_filters::sync_policies::ExactTime<
00297                         rtabmap_ros::Info,
00298                         rtabmap_ros::MapData> MyInfoMapSyncPolicy;
00299         message_filters::Synchronizer<MyInfoMapSyncPolicy> * infoMapSync_;
00300 
00301         typedef message_filters::sync_policies::ExactTime<
00302                         rtabmap_ros::Goal,
00303                         nav_msgs::Path> MyGoalPathSyncPolicy;
00304         message_filters::Synchronizer<MyGoalPathSyncPolicy> * goalPathSync_;
00305 
00306         // with odom msg
00307         typedef message_filters::sync_policies::ApproximateTime<
00308                         sensor_msgs::LaserScan,
00309                         nav_msgs::Odometry,
00310                         sensor_msgs::Image,
00311                         sensor_msgs::Image,
00312                         sensor_msgs::CameraInfo> MyDepthScanSyncPolicy;
00313         message_filters::Synchronizer<MyDepthScanSyncPolicy> * depthScanSync_;
00314 
00315         typedef message_filters::sync_policies::ApproximateTime<
00316                         rtabmap_ros::OdomInfo,
00317                         sensor_msgs::LaserScan,
00318                         nav_msgs::Odometry,
00319                         sensor_msgs::Image,
00320                         sensor_msgs::Image,
00321                         sensor_msgs::CameraInfo> MyDepthScanOdomInfoSyncPolicy;
00322         message_filters::Synchronizer<MyDepthScanOdomInfoSyncPolicy> * depthScanOdomInfoSync_;
00323 
00324         typedef message_filters::sync_policies::ApproximateTime<
00325                         sensor_msgs::PointCloud2,
00326                         nav_msgs::Odometry,
00327                         sensor_msgs::Image,
00328                         sensor_msgs::Image,
00329                         sensor_msgs::CameraInfo> MyDepthScan3dSyncPolicy;
00330         message_filters::Synchronizer<MyDepthScan3dSyncPolicy> * depthScan3dSync_;
00331 
00332         typedef message_filters::sync_policies::ApproximateTime<
00333                         rtabmap_ros::OdomInfo,
00334                         sensor_msgs::PointCloud2,
00335                         nav_msgs::Odometry,
00336                         sensor_msgs::Image,
00337                         sensor_msgs::Image,
00338                         sensor_msgs::CameraInfo> MyDepthScan3dOdomInfoSyncPolicy;
00339         message_filters::Synchronizer<MyDepthScan3dOdomInfoSyncPolicy> * depthScan3dOdomInfoSync_;
00340 
00341         typedef message_filters::sync_policies::ApproximateTime<
00342                         nav_msgs::Odometry,
00343                         sensor_msgs::Image,
00344                         sensor_msgs::Image,
00345                         sensor_msgs::CameraInfo> MyDepthSyncPolicy;
00346         message_filters::Synchronizer<MyDepthSyncPolicy> * depthSync_;
00347 
00348         typedef message_filters::sync_policies::ApproximateTime<
00349                         rtabmap_ros::OdomInfo,
00350                         nav_msgs::Odometry,
00351                         sensor_msgs::Image,
00352                         sensor_msgs::Image,
00353                         sensor_msgs::CameraInfo> MyDepthOdomInfoSyncPolicy;
00354         message_filters::Synchronizer<MyDepthOdomInfoSyncPolicy> * depthOdomInfoSync_;
00355 
00356         typedef message_filters::sync_policies::ApproximateTime<
00357                         nav_msgs::Odometry,
00358                         sensor_msgs::Image,
00359                         sensor_msgs::Image,
00360                         sensor_msgs::CameraInfo,
00361                         sensor_msgs::CameraInfo> MyStereoSyncPolicy;
00362         message_filters::Synchronizer<MyStereoSyncPolicy> * stereoSync_;
00363 
00364         typedef message_filters::sync_policies::ApproximateTime<
00365                         sensor_msgs::LaserScan,
00366                         nav_msgs::Odometry,
00367                         sensor_msgs::Image,
00368                         sensor_msgs::Image,
00369                         sensor_msgs::CameraInfo,
00370                         sensor_msgs::CameraInfo> MyStereoScanSyncPolicy;
00371         message_filters::Synchronizer<MyStereoScanSyncPolicy> * stereoScanSync_;
00372 
00373         typedef message_filters::sync_policies::ApproximateTime<
00374                         rtabmap_ros::OdomInfo,
00375                         sensor_msgs::LaserScan,
00376                         nav_msgs::Odometry,
00377                         sensor_msgs::Image,
00378                         sensor_msgs::Image,
00379                         sensor_msgs::CameraInfo,
00380                         sensor_msgs::CameraInfo> MyStereoScanOdomInfoSyncPolicy;
00381         message_filters::Synchronizer<MyStereoScanOdomInfoSyncPolicy> * stereoScanOdomInfoSync_;
00382 
00383         typedef message_filters::sync_policies::ApproximateTime<
00384                         sensor_msgs::PointCloud2,
00385                         nav_msgs::Odometry,
00386                         sensor_msgs::Image,
00387                         sensor_msgs::Image,
00388                         sensor_msgs::CameraInfo,
00389                         sensor_msgs::CameraInfo> MyStereoScan3dSyncPolicy;
00390         message_filters::Synchronizer<MyStereoScan3dSyncPolicy> * stereoScan3dSync_;
00391 
00392         typedef message_filters::sync_policies::ApproximateTime<
00393                         rtabmap_ros::OdomInfo,
00394                         sensor_msgs::PointCloud2,
00395                         nav_msgs::Odometry,
00396                         sensor_msgs::Image,
00397                         sensor_msgs::Image,
00398                         sensor_msgs::CameraInfo,
00399                         sensor_msgs::CameraInfo> MyStereoScan3dOdomInfoSyncPolicy;
00400         message_filters::Synchronizer<MyStereoScan3dOdomInfoSyncPolicy> * stereoScan3dOdomInfoSync_;
00401 
00402         typedef message_filters::sync_policies::ApproximateTime<
00403                         rtabmap_ros::OdomInfo,
00404                         nav_msgs::Odometry,
00405                         sensor_msgs::Image,
00406                         sensor_msgs::Image,
00407                         sensor_msgs::CameraInfo,
00408                         sensor_msgs::CameraInfo> MyStereoOdomInfoSyncPolicy;
00409         message_filters::Synchronizer<MyStereoOdomInfoSyncPolicy> * stereoOdomInfoSync_;
00410 
00411         typedef message_filters::sync_policies::ApproximateTime<
00412                         nav_msgs::Odometry,
00413                         sensor_msgs::Image,
00414                         sensor_msgs::Image,
00415                         sensor_msgs::CameraInfo,
00416                         sensor_msgs::Image,
00417                         sensor_msgs::Image,
00418                         sensor_msgs::CameraInfo> MyDepth2SyncPolicy;
00419         message_filters::Synchronizer<MyDepth2SyncPolicy> * depth2Sync_;
00420 
00421         typedef message_filters::sync_policies::ApproximateTime<
00422                         rtabmap_ros::OdomInfo,
00423                         nav_msgs::Odometry,
00424                         sensor_msgs::Image,
00425                         sensor_msgs::Image,
00426                         sensor_msgs::CameraInfo,
00427                         sensor_msgs::Image,
00428                         sensor_msgs::Image,
00429                         sensor_msgs::CameraInfo> MyDepthOdomInfo2SyncPolicy;
00430         message_filters::Synchronizer<MyDepthOdomInfo2SyncPolicy> * depthOdomInfo2Sync_;
00431 
00432         // with odom TF
00433         typedef message_filters::sync_policies::ApproximateTime<
00434                         sensor_msgs::LaserScan,
00435                         sensor_msgs::Image,
00436                         sensor_msgs::Image,
00437                         sensor_msgs::CameraInfo> MyDepthScanTFSyncPolicy;
00438         message_filters::Synchronizer<MyDepthScanTFSyncPolicy> * depthScanTFSync_;
00439 
00440         typedef message_filters::sync_policies::ApproximateTime<
00441                         sensor_msgs::PointCloud2,
00442                         sensor_msgs::Image,
00443                         sensor_msgs::Image,
00444                         sensor_msgs::CameraInfo> MyDepthScan3dTFSyncPolicy;
00445         message_filters::Synchronizer<MyDepthScan3dTFSyncPolicy> * depthScan3dTFSync_;
00446 
00447         typedef message_filters::sync_policies::ApproximateTime<
00448                         sensor_msgs::Image,
00449                         sensor_msgs::Image,
00450                         sensor_msgs::CameraInfo> MyDepthTFSyncPolicy;
00451         message_filters::Synchronizer<MyDepthTFSyncPolicy> * depthTFSync_;
00452 
00453         typedef message_filters::sync_policies::ApproximateTime<
00454                         rtabmap_ros::OdomInfo,
00455                         sensor_msgs::Image,
00456                         sensor_msgs::Image,
00457                         sensor_msgs::CameraInfo> MyDepthOdomInfoTFSyncPolicy;
00458         message_filters::Synchronizer<MyDepthOdomInfoTFSyncPolicy> * depthOdomInfoTFSync_;
00459 
00460         typedef message_filters::sync_policies::ApproximateTime<
00461                         sensor_msgs::Image,
00462                         sensor_msgs::Image,
00463                         sensor_msgs::CameraInfo,
00464                         sensor_msgs::CameraInfo> MyStereoTFSyncPolicy;
00465         message_filters::Synchronizer<MyStereoTFSyncPolicy> * stereoTFSync_;
00466 
00467         typedef message_filters::sync_policies::ApproximateTime<
00468                         sensor_msgs::LaserScan,
00469                         sensor_msgs::Image,
00470                         sensor_msgs::Image,
00471                         sensor_msgs::CameraInfo,
00472                         sensor_msgs::CameraInfo> MyStereoScanTFSyncPolicy;
00473         message_filters::Synchronizer<MyStereoScanTFSyncPolicy> * stereoScanTFSync_;
00474 
00475         typedef message_filters::sync_policies::ApproximateTime<
00476                         sensor_msgs::PointCloud2,
00477                         sensor_msgs::Image,
00478                         sensor_msgs::Image,
00479                         sensor_msgs::CameraInfo,
00480                         sensor_msgs::CameraInfo> MyStereoScan3dTFSyncPolicy;
00481         message_filters::Synchronizer<MyStereoScan3dTFSyncPolicy> * stereoScan3dTFSync_;
00482 
00483         typedef message_filters::sync_policies::ApproximateTime<
00484                         rtabmap_ros::OdomInfo,
00485                         sensor_msgs::Image,
00486                         sensor_msgs::Image,
00487                         sensor_msgs::CameraInfo,
00488                         sensor_msgs::CameraInfo> MyStereoOdomInfoTFSyncPolicy;
00489         message_filters::Synchronizer<MyStereoOdomInfoTFSyncPolicy> * stereoOdomInfoTFSync_;
00490 };
00491 
00492 #endif /* GUIWRAPPER_H_ */

rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Sun Jul 24 2016 03:49:07