Class OctomapServer

Defined in File octomap_server.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Derived Types

public octomap_server::OctomapServerMultilayer (Class OctomapServerMultilayer)
public octomap_server::TrackingOctomapServer (Class TrackingOctomapServer)

Class Documentation

class OctomapServer : public rclcpp::Node

Subclassed by octomap_server::OctomapServerMultilayer, octomap_server::TrackingOctomapServer

Public Types

using PCLPoint = pcl::PointXYZ

using PCLPointCloud = pcl::PointCloud<pcl::PointXYZ>

using OcTreeT = octomap::OcTree

using OctomapSrv = octomap_msgs::srv::GetOctomap

using BBoxSrv = octomap_msgs::srv::BoundingBoxQuery

using ResetSrv = std_srvs::srv::Empty

Public Functions

explicit OctomapServer(const rclcpp::NodeOptions &node_options)

virtual bool onOctomapBinarySrv(const std::shared_ptr<OctomapSrv::Request> req, const std::shared_ptr<OctomapSrv::Response> res)

virtual bool onOctomapFullSrv(const std::shared_ptr<OctomapSrv::Request> req, const std::shared_ptr<OctomapSrv::Response> res)

bool clearBBoxSrv(const std::shared_ptr<BBoxSrv::Request> req, const std::shared_ptr<BBoxSrv::Response> resp)

bool resetSrv(const std::shared_ptr<ResetSrv::Request> req, const std::shared_ptr<ResetSrv::Response> resp)

virtual void insertCloudCallback(const PointCloud2::ConstSharedPtr cloud)

virtual bool openFile(const std::string &filename)

Protected Functions

inline bool isInUpdateBBX(const OcTreeT::iterator &it) const: Test if key is within update area of map (2D, ignores height)

rcl_interfaces::msg::SetParametersResult onParameter(const std::vector<rclcpp::Parameter> &parameters)

void publishBinaryOctoMap(const rclcpp::Time &rostime) const

void publishFullOctoMap(const rclcpp::Time &rostime) const

virtual void publishAll(const rclcpp::Time &rostime)

virtual void insertScan(const tf2::Vector3 &sensor_origin, 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.

Parameters:

sensor_origin – 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)

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!)

bool isSpeckleNode(const octomap::OcTreeKey &key) const

Find speckle nodes (single occupied voxels with no neighbors). Only works on lowest resolution!

Parameters:: key –
Returns:

virtual void handlePreNodeTraversal(const rclcpp::Time &rostime): hook that is called before traversing all nodes

inline virtual void handleNode(const OcTreeT::iterator &it): hook that is called when traversing all nodes of the updated Octree (does nothing here)

inline 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 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 handlePostNodeTraversal(const rclcpp::Time &rostime): hook that is called after traversing all nodes

virtual void update2DMap(const OcTreeT::iterator &it, bool occupied): updates the downprojected 2D map as either occupied or free

inline size_t mapIdx(const int i, const int j) const

inline size_t mapIdx(const octomap::OcTreeKey &key) const

void adjustMapData(OccupancyGrid &map, const MapMetaData &old_map_info) const: 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 old_map_info.

inline bool mapChanged(const MapMetaData &old_map_info, const MapMetaData &new_map_info)

Protected Attributes

OnSetParametersCallbackHandle::SharedPtr set_param_res_

rclcpp::Publisher<MarkerArray>::SharedPtr marker_pub_

rclcpp::Publisher<Octomap>::SharedPtr binary_map_pub_

rclcpp::Publisher<Octomap>::SharedPtr full_map_pub_

rclcpp::Publisher<PointCloud2>::SharedPtr point_cloud_pub_

rclcpp::Publisher<OccupancyGrid>::SharedPtr map_pub_

rclcpp::Publisher<MarkerArray>::SharedPtr fmarker_pub_

message_filters::Subscriber<PointCloud2> point_cloud_sub_

std::shared_ptr<tf2_ros::MessageFilter<PointCloud2>> tf_point_cloud_sub_

rclcpp::Service<OctomapSrv>::SharedPtr octomap_binary_srv_

rclcpp::Service<OctomapSrv>::SharedPtr octomap_full_srv_

rclcpp::Service<BBoxSrv>::SharedPtr clear_bbox_srv_

rclcpp::Service<ResetSrv>::SharedPtr reset_srv_

std::shared_ptr<tf2_ros::Buffer> tf2_buffer_

std::shared_ptr<tf2_ros::TransformListener> tf2_listener_

std::unique_ptr<OcTreeT> octree_

octomap::KeyRay key_ray_

octomap::OcTreeKey update_bbox_min_

octomap::OcTreeKey update_bbox_max_

double max_range_

std::string world_frame_id_

std::string base_frame_id_

bool use_height_map_

ColorRGBA color_

ColorRGBA color_free_

double color_factor_

bool latched_topics_

bool publish_free_space_

double res_

size_t tree_depth_

size_t max_tree_depth_

double point_cloud_min_x_

double point_cloud_max_x_

double point_cloud_min_y_

double point_cloud_max_y_

double point_cloud_min_z_

double point_cloud_max_z_

double occupancy_min_z_

double occupancy_max_z_

double min_x_size_

double min_y_size_

bool filter_speckles_

bool filter_ground_plane_

double ground_filter_distance_

double ground_filter_angle_

double ground_filter_plane_distance_

bool compress_map_

bool init_config_

bool incremental_2D_projection_

OccupancyGrid gridmap_

bool publish_2d_map_

bool map_origin_changed

octomap::OcTreeKey padded_min_key_

unsigned multires_2d_scale_

bool project_complete_map_

bool use_colored_map_

Protected Static Functions

static inline void updateMinKey(const octomap::OcTreeKey &in, octomap::OcTreeKey &min)

static inline void updateMaxKey(const octomap::OcTreeKey &in, octomap::OcTreeKey &max)

static ColorRGBA heightMapColor(double h)