OdometryROS.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*/

#include "OdometryROS.h"

#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud2.h>
#include <nav_msgs/Odometry.h>

#include <pcl_conversions/pcl_conversions.h>

#include <cv_bridge/cv_bridge.h>

#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/OdometryF2M.h>
#include <rtabmap/core/OdometryF2F.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/Signature.h>
#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap_ros/OdomInfo.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UFile.h"

#define BAD_COVARIANCE 9999

using namespace rtabmap;

namespace rtabmap_ros {

OdometryROS::OdometryROS(bool stereo) :
        odometry_(0),
        frameId_("base_link"),
        odomFrameId_("odom"),
        groundTruthFrameId_(""),
        publishTf_(true),
        waitForTransform_(true),
        waitForTransformDuration_(0.1), // 100 ms
        publishNullWhenLost_(true),
        guessFromTf_(false),
        paused_(false),
        resetCountdown_(0),
        resetCurrentCount_(0),
        stereo_(stereo)
{

}

OdometryROS::~OdometryROS()
{
        ros::NodeHandle & pnh = getPrivateNodeHandle();
        if(pnh.ok())
        {
                for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
                {
                        pnh.deleteParam(iter->first);
                }
        }

        delete odometry_;
}

void OdometryROS::onInit()
{
        ros::NodeHandle & nh = getNodeHandle();
        ros::NodeHandle & pnh = getPrivateNodeHandle();

        odomPub_ = nh.advertise<nav_msgs::Odometry>("odom", 1);
        odomInfoPub_ = nh.advertise<rtabmap_ros::OdomInfo>("odom_info", 1);
        odomLocalMap_ = nh.advertise<sensor_msgs::PointCloud2>("odom_local_map", 1);
        odomLastFrame_ = nh.advertise<sensor_msgs::PointCloud2>("odom_last_frame", 1);

        Transform initialPose = Transform::getIdentity();
        std::string initialPoseStr;
        std::string tfPrefix;
        std::string configPath;
        pnh.param("frame_id", frameId_, frameId_);
        pnh.param("odom_frame_id", odomFrameId_, odomFrameId_);
        pnh.param("publish_tf", publishTf_, publishTf_);
        pnh.param("tf_prefix", tfPrefix, tfPrefix);
        pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
        pnh.param("wait_for_transform_duration",  waitForTransformDuration_, waitForTransformDuration_);
        pnh.param("initial_pose", initialPoseStr, initialPoseStr); // "x y z roll pitch yaw"
        pnh.param("ground_truth_frame_id", groundTruthFrameId_, groundTruthFrameId_);
        pnh.param("config_path", configPath, configPath);
        pnh.param("publish_null_when_lost", publishNullWhenLost_, publishNullWhenLost_);
        pnh.param("guess_from_tf", guessFromTf_, guessFromTf_);

        if(publishTf_ && guessFromTf_)
        {
                NODELET_WARN( "\"publish_tf\" and \"guess_from_tf\" cannot be used at the same time. \"guess_from_tf\" is disabled.");
                guessFromTf_ = false;
        }

        configPath = uReplaceChar(configPath, '~', UDirectory::homeDir());
        if(configPath.size() && configPath.at(0) != '/')
        {
                configPath = UDirectory::currentDir(true) + configPath;
        }

        if(!tfPrefix.empty())
        {
                if(!frameId_.empty())
                {
                        frameId_ = tfPrefix + "/" + frameId_;
                }
                if(!odomFrameId_.empty())
                {
                        odomFrameId_ = tfPrefix + "/" + odomFrameId_;
                }
                if(!groundTruthFrameId_.empty())
                {
                        groundTruthFrameId_ = tfPrefix + "/" + groundTruthFrameId_;
                }
        }

        if(initialPoseStr.size())
        {
                std::vector<std::string> values = uListToVector(uSplit(initialPoseStr, ' '));
                if(values.size() == 6)
                {
                        initialPose = Transform(
                                        uStr2Float(values[0]), uStr2Float(values[1]), uStr2Float(values[2]),
                                        uStr2Float(values[3]), uStr2Float(values[4]), uStr2Float(values[5]));
                }
                else
                {
                        NODELET_ERROR( "Wrong initial_pose format: %s (should be \"x y z roll pitch yaw\" with angle in radians). "
                                          "Identity will be used...", initialPoseStr.c_str());
                }
        }


        //parameters
        parameters_ = Parameters::getDefaultOdometryParameters(stereo_);
        if(!configPath.empty())
        {
                if(UFile::exists(configPath.c_str()))
                {
                        NODELET_INFO( "Odometry: Loading parameters from %s", configPath.c_str());
                        rtabmap::ParametersMap allParameters;
                        Parameters::readINI(configPath.c_str(), allParameters);
                        // only update odometry parameters
                        for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
                        {
                                ParametersMap::iterator jter = allParameters.find(iter->first);
                                if(jter!=allParameters.end())
                                {
                                        iter->second = jter->second;
                                }
                        }
                }
                else
                {
                        NODELET_ERROR( "Config file \"%s\" not found!", configPath.c_str());
                }
        }
        for(rtabmap::ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
        {
                std::string vStr;
                bool vBool;
                int vInt;
                double vDouble;
                if(pnh.getParam(iter->first, vStr))
                {
                        NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());
                        iter->second = vStr;
                }
                else if(pnh.getParam(iter->first, vBool))
                {
                        NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uBool2Str(vBool).c_str());
                        iter->second = uBool2Str(vBool);
                }
                else if(pnh.getParam(iter->first, vDouble))
                {
                        NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vDouble).c_str());
                        iter->second = uNumber2Str(vDouble);
                }
                else if(pnh.getParam(iter->first, vInt))
                {
                        NODELET_INFO( "Setting odometry parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vInt).c_str());
                        iter->second = uNumber2Str(vInt);
                }

                if(iter->first.compare(Parameters::kVisMinInliers()) == 0 && atoi(iter->second.c_str()) < 8)
                {
                        NODELET_WARN( "Parameter min_inliers must be >= 8, setting to 8...");
                        iter->second = uNumber2Str(8);
                }
        }

        std::vector<std::string> argList = getMyArgv();
        char * argv[argList.size()];
        for(unsigned int i=0; i<argList.size(); ++i)
        {
                argv[i] = &argList[i].at(0);
        }

        rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
        for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
        {
                rtabmap::ParametersMap::iterator jter = parameters_.find(iter->first);
                if(jter!=parameters_.end())
                {
                        NODELET_INFO( "Update odometry parameter \"%s\"=\"%s\" from arguments", iter->first.c_str(), iter->second.c_str());
                        jter->second = iter->second;
                }
        }

        // Backward compatibility
        for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=Parameters::getRemovedParameters().begin();
                iter!=Parameters::getRemovedParameters().end();
                ++iter)
        {
                std::string vStr;
                if(pnh.getParam(iter->first, vStr))
                {
                        if(iter->second.first)
                        {
                                // can be migrated
                                parameters_.at(iter->second.second)= vStr;
                                NODELET_WARN( "Odometry: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
                                                iter->first.c_str(), iter->second.second.c_str(), vStr.c_str());
                        }
                        else
                        {
                                if(iter->second.second.empty())
                                {
                                        NODELET_ERROR( "Odometry: Parameter \"%s\" doesn't exist anymore!",
                                                        iter->first.c_str());
                                }
                                else
                                {
                                        NODELET_ERROR( "Odometry: Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
                                                        iter->first.c_str(), iter->second.second.c_str());
                                }
                        }
                }
        }

        Parameters::parse(parameters_, Parameters::kOdomResetCountdown(), resetCountdown_);
        parameters_.at(Parameters::kOdomResetCountdown()) = "0"; // use modified reset countdown here
        odometry_ = Odometry::create(parameters_);
        if(!initialPose.isIdentity())
        {
                odometry_->reset(initialPose);
        }

        resetSrv_ = nh.advertiseService("reset_odom", &OdometryROS::reset, this);
        resetToPoseSrv_ = nh.advertiseService("reset_odom_to_pose", &OdometryROS::resetToPose, this);
        pauseSrv_ = nh.advertiseService("pause_odom", &OdometryROS::pause, this);
        resumeSrv_ = nh.advertiseService("resume_odom", &OdometryROS::resume, this);

        setLogDebugSrv_ = pnh.advertiseService("log_debug", &OdometryROS::setLogDebug, this);
        setLogInfoSrv_ = pnh.advertiseService("log_info", &OdometryROS::setLogInfo, this);
        setLogWarnSrv_ = pnh.advertiseService("log_warning", &OdometryROS::setLogWarn, this);
        setLogErrorSrv_ = pnh.advertiseService("log_error", &OdometryROS::setLogError, this);

        onOdomInit();
}

Transform OdometryROS::getTransform(const std::string & fromFrameId, const std::string & toFrameId, const ros::Time & stamp) const
{
        // TF ready?
        Transform transform;
        try
        {
                if(waitForTransform_ && !stamp.isZero() && waitForTransformDuration_ > 0.0)
                {
                        //if(!tfBuffer_.canTransform(fromFrameId, toFrameId, stamp, ros::Duration(1)))
                        if(!tfListener_.waitForTransform(fromFrameId, toFrameId, stamp, ros::Duration(waitForTransformDuration_)))
                        {
                                NODELET_WARN( "odometry: Could not get transform from %s to %s (stamp=%f) after %f seconds (\"wait_for_transform_duration\"=%f)!",
                                                fromFrameId.c_str(), toFrameId.c_str(), stamp.toSec(), waitForTransformDuration_, waitForTransformDuration_);
                                return transform;
                        }
                }

                tf::StampedTransform tmp;
                tfListener_.lookupTransform(fromFrameId, toFrameId, stamp, tmp);
                transform = rtabmap_ros::transformFromTF(tmp);
        }
        catch(tf::TransformException & ex)
        {
                NODELET_WARN( "%s",ex.what());
        }
        return transform;
}

void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
{
        if(odometry_->getPose().isIdentity() &&
           !groundTruthFrameId_.empty())
        {
                // sync with the first value of the ground truth
                Transform initialPose = getTransform(groundTruthFrameId_, frameId_, stamp);
                if(initialPose.isNull())
                {
                        return;
                }

                NODELET_INFO( "Initializing odometry pose to %s (from \"%s\" -> \"%s\")",
                                initialPose.prettyPrint().c_str(),
                                groundTruthFrameId_.c_str(),
                                frameId_.c_str());
                odometry_->reset(initialPose);
        }

        Transform guess;
        if(guessFromTf_)
        {
                Transform previousPose = this->getTransform(odomFrameId_, frameId_, ros::Time(odometry_->previousStamp()));
                Transform pose = this->getTransform(odomFrameId_, frameId_, stamp);
                if(!previousPose.isNull() && !pose.isNull())
                {
                        guess = previousPose.inverse() * pose;

                        /*if(!odometry_->previousVelocityTransform().isNull())
                        {
                                float dt = rtabmap_ros::timestampFromROS(stamp) - odometry_->previousStamp();
                                float vx,vy,vz, vroll,vpitch,vyaw;
                                odometry_->previousVelocityTransform().getTranslationAndEulerAngles(vx,vy,vz, vroll,vpitch,vyaw);
                                Transform motionGuess(vx*dt, vy*dt, vz*dt, vroll*dt, vpitch*dt, vyaw*dt);
                                NODELET_WARN( "P  Guess %s", motionGuess.prettyPrint().c_str());
                        }
                        NODELET_WARN( "TF Guess %s", guess.prettyPrint().c_str());*/
                }
        }

        // process data
        ros::WallTime time = ros::WallTime::now();
        rtabmap::OdometryInfo info;
        SensorData dataCpy = data;
        rtabmap::Transform pose = odometry_->process(dataCpy, guess, &info);
        if(!pose.isNull())
        {
                resetCurrentCount_ = resetCountdown_;

                //*********************
                // Update odometry
                //*********************
                geometry_msgs::TransformStamped poseMsg;
                poseMsg.child_frame_id = frameId_;
                poseMsg.header.frame_id = odomFrameId_;
                poseMsg.header.stamp = stamp;
                rtabmap_ros::transformToGeometryMsg(pose, poseMsg.transform);

                if(publishTf_)
                {
                        tfBroadcaster_.sendTransform(poseMsg);
                }

                if(odomPub_.getNumSubscribers())
                {
                        //next, we'll publish the odometry message over ROS
                        nav_msgs::Odometry odom;
                        odom.header.stamp = stamp; // use corresponding time stamp to image
                        odom.header.frame_id = odomFrameId_;
                        odom.child_frame_id = frameId_;

                        //set the position
                        odom.pose.pose.position.x = poseMsg.transform.translation.x;
                        odom.pose.pose.position.y = poseMsg.transform.translation.y;
                        odom.pose.pose.position.z = poseMsg.transform.translation.z;
                        odom.pose.pose.orientation = poseMsg.transform.rotation;

                        //set covariance
                        // libviso2 uses approximately vel variance * 2
                        odom.pose.covariance.at(0) = info.variance*2;  // xx
                        odom.pose.covariance.at(7) = info.variance*2;  // yy
                        odom.pose.covariance.at(14) = info.variance*2; // zz
                        odom.pose.covariance.at(21) = info.variance*2; // rr
                        odom.pose.covariance.at(28) = info.variance*2; // pp
                        odom.pose.covariance.at(35) = info.variance*2; // yawyaw

                        //set velocity
                        bool setTwist = !odometry_->previousVelocityTransform().isNull();
                        if(setTwist)
                        {
                                float x,y,z,roll,pitch,yaw;
                                odometry_->previousVelocityTransform().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
                                odom.twist.twist.linear.x = x;
                                odom.twist.twist.linear.y = y;
                                odom.twist.twist.linear.z = z;
                                odom.twist.twist.angular.x = roll;
                                odom.twist.twist.angular.y = pitch;
                                odom.twist.twist.angular.z = yaw;
                        }

                        odom.twist.covariance.at(0) = setTwist?info.variance:BAD_COVARIANCE;  // xx
                        odom.twist.covariance.at(7) = setTwist?info.variance:BAD_COVARIANCE;  // yy
                        odom.twist.covariance.at(14) = setTwist?info.variance:BAD_COVARIANCE; // zz
                        odom.twist.covariance.at(21) = setTwist?info.variance:BAD_COVARIANCE; // rr
                        odom.twist.covariance.at(28) = setTwist?info.variance:BAD_COVARIANCE; // pp
                        odom.twist.covariance.at(35) = setTwist?info.variance:BAD_COVARIANCE; // yawyaw

                        //publish the message
                        odomPub_.publish(odom);
                }

                // local map / reference frame
                if(odomLocalMap_.getNumSubscribers() && dynamic_cast<OdometryF2M*>(odometry_))
                {
                        pcl::PointCloud<pcl::PointXYZ> cloud;
                        const std::multimap<int, cv::Point3f> & map = ((OdometryF2M*)odometry_)->getMap().getWords3();
                        for(std::multimap<int, cv::Point3f>::const_iterator iter=map.begin(); iter!=map.end(); ++iter)
                        {
                                cloud.push_back(pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z));
                        }
                        sensor_msgs::PointCloud2 cloudMsg;
                        pcl::toROSMsg(cloud, cloudMsg);
                        cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
                        cloudMsg.header.frame_id = odomFrameId_;
                        odomLocalMap_.publish(cloudMsg);
                }

                if(odomLastFrame_.getNumSubscribers())
                {
                        if(dynamic_cast<OdometryF2M*>(odometry_))
                        {
                                const std::multimap<int, cv::Point3f> & words3  = ((OdometryF2M*)odometry_)->getLastFrame().getWords3();
                                if(words3.size())
                                {
                                        pcl::PointCloud<pcl::PointXYZ> cloud;
                                        for(std::multimap<int, cv::Point3f>::const_iterator iter=words3.begin(); iter!=words3.end(); ++iter)
                                        {
                                                // transform to odom frame
                                                cv::Point3f pt = util3d::transformPoint(iter->second, pose);
                                                cloud.push_back(pcl::PointXYZ(pt.x, pt.y, pt.z));
                                        }

                                        sensor_msgs::PointCloud2 cloudMsg;
                                        pcl::toROSMsg(cloud, cloudMsg);
                                        cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
                                        cloudMsg.header.frame_id = odomFrameId_;
                                        odomLastFrame_.publish(cloudMsg);
                                }
                        }
                        else
                        {
                                //Frame to Frame
                                const Signature & refFrame = ((OdometryF2F*)odometry_)->getRefFrame();
                                if(refFrame.getWords3().size())
                                {
                                        pcl::PointCloud<pcl::PointXYZ> cloud;
                                        for(std::multimap<int, cv::Point3f>::const_iterator iter=refFrame.getWords3().begin(); iter!=refFrame.getWords3().end(); ++iter)
                                        {
                                                // transform to odom frame
                                                cv::Point3f pt = util3d::transformPoint(iter->second, pose);
                                                cloud.push_back(pcl::PointXYZ(pt.x, pt.y, pt.z));
                                        }
                                        sensor_msgs::PointCloud2 cloudMsg;
                                        pcl::toROSMsg(cloud, cloudMsg);
                                        cloudMsg.header.stamp = stamp; // use corresponding time stamp to image
                                        cloudMsg.header.frame_id = odomFrameId_;
                                        odomLastFrame_.publish(cloudMsg);
                                }
                        }
                }
        }
        else if(publishNullWhenLost_)
        {
                //NODELET_WARN( "Odometry lost!");

                //send null pose to notify that odometry is lost
                nav_msgs::Odometry odom;
                odom.header.stamp = stamp; // use corresponding time stamp to image
                odom.header.frame_id = odomFrameId_;
                odom.child_frame_id = frameId_;
                odom.pose.covariance.at(0) = BAD_COVARIANCE;  // xx
                odom.pose.covariance.at(7) = BAD_COVARIANCE;  // yy
                odom.pose.covariance.at(14) = BAD_COVARIANCE; // zz
                odom.pose.covariance.at(21) = BAD_COVARIANCE; // rr
                odom.pose.covariance.at(28) = BAD_COVARIANCE; // pp
                odom.pose.covariance.at(35) = BAD_COVARIANCE; // yawyaw
                odom.twist.covariance.at(0) = BAD_COVARIANCE;  // xx
                odom.twist.covariance.at(7) = BAD_COVARIANCE;  // yy
                odom.twist.covariance.at(14) = BAD_COVARIANCE; // zz
                odom.twist.covariance.at(21) = BAD_COVARIANCE; // rr
                odom.twist.covariance.at(28) = BAD_COVARIANCE; // pp
                odom.twist.covariance.at(35) = BAD_COVARIANCE; // yawyaw

                //publish the message
                odomPub_.publish(odom);
        }

        if(pose.isNull() && resetCurrentCount_ > 0)
        {
                NODELET_WARN( "Odometry lost! Odometry will be reset after next %d consecutive unsuccessful odometry updates...", resetCurrentCount_);

                --resetCurrentCount_;
                if(resetCurrentCount_ == 0)
                {
                        // Check TF to see if sensor fusion is used (e.g., the output of robot_localization)
                        Transform tfPose = this->getTransform(odomFrameId_, frameId_, stamp);
                        if(tfPose.isNull())
                        {
                                NODELET_WARN( "Odometry automatically reset to latest computed pose!");
                                odometry_->reset(odometry_->getPose());
                        }
                        else
                        {
                                NODELET_WARN( "Odometry automatically reset to latest odometry pose available from TF (%s->%s)!",
                                                odomFrameId_.c_str(), frameId_.c_str());
                                odometry_->reset(tfPose);
                        }

                }
        }

        if(odomInfoPub_.getNumSubscribers())
        {
                rtabmap_ros::OdomInfo infoMsg;
                odomInfoToROS(info, infoMsg);
                infoMsg.header.stamp = stamp; // use corresponding time stamp to image
                infoMsg.header.frame_id = odomFrameId_;
                odomInfoPub_.publish(infoMsg);
        }

        NODELET_INFO( "Odom: quality=%d, std dev=%fm, update time=%fs", info.inliers, pose.isNull()?0.0f:std::sqrt(info.variance), (ros::WallTime::now()-time).toSec());
}

bool OdometryROS::isOdometryF2M() const
{
        return dynamic_cast<OdometryF2M*>(odometry_) != 0;
}

bool OdometryROS::reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: reset odom!");
        odometry_->reset();
        this->flushCallbacks();
        return true;
}

bool OdometryROS::resetToPose(rtabmap_ros::ResetPose::Request& req, rtabmap_ros::ResetPose::Response&)
{
        Transform pose(req.x, req.y, req.z, req.roll, req.pitch, req.yaw);
        NODELET_INFO( "visual_odometry: reset odom to pose %s!", pose.prettyPrint().c_str());
        odometry_->reset(pose);
        this->flushCallbacks();
        return true;
}

bool OdometryROS::pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        if(paused_)
        {
                NODELET_WARN( "visual_odometry: Already paused!");
        }
        else
        {
                paused_ = true;
                NODELET_INFO( "visual_odometry: paused!");
        }
        return true;
}

bool OdometryROS::resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        if(!paused_)
        {
                NODELET_WARN( "visual_odometry: Already running!");
        }
        else
        {
                paused_ = false;
                NODELET_INFO( "visual_odometry: resumed!");
        }
        return true;
}

bool OdometryROS::setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: Set log level to Debug");
        ULogger::setLevel(ULogger::kDebug);
        return true;
}
bool OdometryROS::setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: Set log level to Info");
        ULogger::setLevel(ULogger::kInfo);
        return true;
}
bool OdometryROS::setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: Set log level to Warning");
        ULogger::setLevel(ULogger::kWarning);
        return true;
}
bool OdometryROS::setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
        NODELET_INFO( "visual_odometry: Set log level to Error");
        ULogger::setLevel(ULogger::kError);
        return true;
}


}