AmclNode Class Reference

Classes
struct	TransformListenerWrapper

Public Member Functions
	AmclNode ()
int	process ()
void	runFromBag (const std::string &in_bag_fn, bool trigger_global_localization=false)
	Uses TF and LaserScan messages from bag file to drive AMCL instead. More...
void	savePoseToServer ()
	~AmclNode ()

Private Member Functions
void	applyInitialPose ()
void	checkLaserReceived (const ros::TimerEvent &event)
map_t *	convertMap (const nav_msgs::OccupancyGrid &map_msg)
void	freeMapDependentMemory ()
bool	getOdomPose (tf::Stamped< tf::Pose > &pose, double &x, double &y, double &yaw, const ros::Time &t, const std::string &f)
double	getYaw (tf::Pose &t)
bool	globalLocalizationCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	handleInitialPoseMessage (const geometry_msgs::PoseWithCovarianceStamped &msg)
void	handleMapMessage (const nav_msgs::OccupancyGrid &msg)
void	initialPoseReceived (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
void	laserReceived (const sensor_msgs::LaserScanConstPtr &laser_scan)
void	mapReceived (const nav_msgs::OccupancyGridConstPtr &msg)
bool	nomotionUpdateCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	reconfigureCB (amcl::AMCLConfig &config, uint32_t level)
void	requestMap ()
bool	setMapCallback (nav_msgs::SetMap::Request &req, nav_msgs::SetMap::Response &res)
void	updatePoseFromServer ()

Static Private Member Functions
static pf_vector_t	uniformPoseGenerator (void *arg)

Private Attributes
double	a_thresh_
double	alpha1_
double	alpha2_
double	alpha3_
double	alpha4_
double	alpha5_
double	alpha_fast_
double	alpha_slow_
ros::WallDuration	bag_scan_period_
std::string	base_frame_id_
double	beam_skip_distance_
double	beam_skip_error_threshold_
double	beam_skip_threshold_
ros::Timer	check_laser_timer_
ros::Duration	cloud_pub_interval
boost::recursive_mutex	configuration_mutex_
double	d_thresh_
amcl::AMCLConfig	default_config_
bool	do_beamskip_
dynamic_reconfigure::Server< amcl::AMCLConfig > *	dsrv_
bool	first_map_only_
bool	first_map_received_
bool	first_reconfigure_call_
std::map< std::string, int >	frame_to_laser_
std::string	global_frame_id_
ros::ServiceServer	global_loc_srv_
ros::Duration	gui_publish_period
double	init_cov_ [3]
double	init_pose_ [3]
amcl_hyp_t *	initial_pose_hyp_
ros::Subscriber	initial_pose_sub_
ros::Subscriber	initial_pose_sub_old_
double	lambda_short_
AMCLLaser *	laser_
ros::Duration	laser_check_interval_
double	laser_likelihood_max_dist_
double	laser_max_range_
double	laser_min_range_
laser_model_t	laser_model_type_
tf::MessageFilter< sensor_msgs::LaserScan > *	laser_scan_filter_
message_filters::Subscriber< sensor_msgs::LaserScan > *	laser_scan_sub_
std::vector< AMCLLaser * >	lasers_
std::vector< bool >	lasers_update_
ros::Time	last_cloud_pub_time
ros::Time	last_laser_received_ts_
geometry_msgs::PoseWithCovarianceStamped	last_published_pose
tf::Stamped< tf::Pose >	latest_odom_pose_
tf::Transform	latest_tf_
bool	latest_tf_valid_
bool	m_force_update
map_t *	map_
ros::Subscriber	map_sub_
char *	mapdata
int	max_beams_
int	max_particles_
int	min_particles_
ros::NodeHandle	nh_
ros::ServiceServer	nomotion_update_srv_
AMCLOdom *	odom_
std::string	odom_frame_id_
odom_model_t	odom_model_type_
ros::Publisher	particlecloud_pub_
pf_t *	pf_
double	pf_err_
bool	pf_init_
pf_vector_t	pf_odom_pose_
double	pf_z_
ros::Publisher	pose_pub_
ros::NodeHandle	private_nh_
int	resample_count_
int	resample_interval_
double	resolution
ros::Time	save_pose_last_time
ros::Duration	save_pose_period
bool	selective_resampling_
bool	sent_first_transform_
ros::ServiceServer	set_map_srv_
double	sigma_hit_
int	sx
int	sy
TransformListenerWrapper *	tf_
bool	tf_broadcast_
tf::TransformBroadcaster *	tfb_
ros::Duration	transform_tolerance_
bool	use_map_topic_
double	z_hit_
double	z_max_
double	z_rand_
double	z_short_

Static Private Attributes
static std::vector< std::pair< int, int > >	free_space_indices

Detailed Description

Definition at line 110 of file amcl_node.cpp.

Constructor & Destructor Documentation

AmclNode::AmclNode

(

)

Definition at line 327 of file amcl_node.cpp.

AmclNode::~AmclNode

(

)

Definition at line 961 of file amcl_node.cpp.

Member Function Documentation

void AmclNode::applyInitialPose ( )

private

If initial_pose_hyp_ and map_ are both non-null, apply the initial pose to the particle filter state. initial_pose_hyp_ is deleted and set to NULL after it is used.

Definition at line 1546 of file amcl_node.cpp.

void AmclNode::checkLaserReceived ( const ros::TimerEvent &  event )

private

Definition at line 783 of file amcl_node.cpp.

map_t * AmclNode::convertMap ( const nav_msgs::OccupancyGrid &  map_msg )

private

Convert an OccupancyGrid map message into the internal representation. This allocates a map_t and returns it.

Definition at line 935 of file amcl_node.cpp.

void AmclNode::freeMapDependentMemory ( )

private

Definition at line 914 of file amcl_node.cpp.

bool AmclNode::getOdomPose ( tf::Stamped< tf::Pose > &  pose, double &  x, double &  y, double &  yaw, const ros::Time &  t, const std::string &  f  )

private

Definition at line 973 of file amcl_node.cpp.

double AmclNode::getYaw ( tf::Pose &  t )

private

Definition at line 1450 of file amcl_node.cpp.

bool AmclNode::globalLocalizationCallback ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  res  )

private

Definition at line 1037 of file amcl_node.cpp.

void AmclNode::handleInitialPoseMessage ( const geometry_msgs::PoseWithCovarianceStamped &  msg )

private

Definition at line 1464 of file amcl_node.cpp.

void AmclNode::handleMapMessage ( const nav_msgs::OccupancyGrid &  msg )

private

Definition at line 825 of file amcl_node.cpp.

void AmclNode::initialPoseReceived ( const geometry_msgs::PoseWithCovarianceStampedConstPtr &  msg )

private

Definition at line 1458 of file amcl_node.cpp.

void AmclNode::laserReceived ( const sensor_msgs::LaserScanConstPtr &  laser_scan )

private

Definition at line 1073 of file amcl_node.cpp.

void AmclNode::mapReceived ( const nav_msgs::OccupancyGridConstPtr &  msg )

private

Definition at line 813 of file amcl_node.cpp.

bool AmclNode::nomotionUpdateCallback ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  res  )

private

Definition at line 1054 of file amcl_node.cpp.

int AmclNode::process

(

)

void AmclNode::reconfigureCB ( amcl::AMCLConfig &  config, uint32_t  level  )

private

Definition at line 479 of file amcl_node.cpp.

void AmclNode::requestMap ( )

private

Definition at line 795 of file amcl_node.cpp.

void AmclNode::runFromBag	(	const std::string &	in_bag_fn,
		bool	trigger_global_localization = false
	)

Uses TF and LaserScan messages from bag file to drive AMCL instead.

Parameters

in_bag_fn	input bagfile
trigger_global_localization	whether to trigger global localization before starting to process the bagfile

Definition at line 625 of file amcl_node.cpp.

void AmclNode::savePoseToServer

(

)

Definition at line 718 of file amcl_node.cpp.

bool AmclNode::setMapCallback ( nav_msgs::SetMap::Request &  req, nav_msgs::SetMap::Response &  res  )

private

Definition at line 1063 of file amcl_node.cpp.

pf_vector_t AmclNode::uniformPoseGenerator ( void *  arg )

staticprivate

Definition at line 999 of file amcl_node.cpp.

void AmclNode::updatePoseFromServer ( )

private

Definition at line 740 of file amcl_node.cpp.

Member Data Documentation

double AmclNode::a_thresh_

private

Definition at line 206 of file amcl_node.cpp.

double AmclNode::alpha1_

private

Definition at line 255 of file amcl_node.cpp.

double AmclNode::alpha2_

private

Definition at line 255 of file amcl_node.cpp.

double AmclNode::alpha3_

private

Definition at line 255 of file amcl_node.cpp.

double AmclNode::alpha4_

private

Definition at line 255 of file amcl_node.cpp.

double AmclNode::alpha5_

private

Definition at line 255 of file amcl_node.cpp.

double AmclNode::alpha_fast_

private

Definition at line 256 of file amcl_node.cpp.

double AmclNode::alpha_slow_

private

Definition at line 256 of file amcl_node.cpp.

ros::WallDuration AmclNode::bag_scan_period_

private

Definition at line 222 of file amcl_node.cpp.

std::string AmclNode::base_frame_id_

private

Definition at line 177 of file amcl_node.cpp.

double AmclNode::beam_skip_distance_

private

Definition at line 260 of file amcl_node.cpp.

double AmclNode::beam_skip_error_threshold_

private

Definition at line 260 of file amcl_node.cpp.

double AmclNode::beam_skip_threshold_

private

Definition at line 260 of file amcl_node.cpp.

ros::Timer AmclNode::check_laser_timer_

private

Definition at line 252 of file amcl_node.cpp.

ros::Duration AmclNode::cloud_pub_interval

private

Definition at line 218 of file amcl_node.cpp.

boost::recursive_mutex AmclNode::configuration_mutex_

private

Definition at line 249 of file amcl_node.cpp.

double AmclNode::d_thresh_

private

Definition at line 206 of file amcl_node.cpp.

amcl::AMCLConfig AmclNode::default_config_

private

Definition at line 251 of file amcl_node.cpp.

bool AmclNode::do_beamskip_

private

Definition at line 259 of file amcl_node.cpp.

dynamic_reconfigure::Server<amcl::AMCLConfig>* AmclNode::dsrv_

private

Definition at line 250 of file amcl_node.cpp.

bool AmclNode::first_map_only_

private

Definition at line 181 of file amcl_node.cpp.

bool AmclNode::first_map_received_

private

Definition at line 246 of file amcl_node.cpp.

bool AmclNode::first_reconfigure_call_

private

Definition at line 247 of file amcl_node.cpp.

std::map< std::string, int > AmclNode::frame_to_laser_

private

Definition at line 199 of file amcl_node.cpp.

std::vector< std::pair< int, int > > AmclNode::free_space_indices

staticprivate

Definition at line 147 of file amcl_node.cpp.

std::string AmclNode::global_frame_id_

private

Definition at line 178 of file amcl_node.cpp.

ros::ServiceServer AmclNode::global_loc_srv_

private

Definition at line 239 of file amcl_node.cpp.

ros::Duration AmclNode::gui_publish_period

private

Definition at line 183 of file amcl_node.cpp.

double AmclNode::init_cov_[3]

private

Definition at line 264 of file amcl_node.cpp.

double AmclNode::init_pose_[3]

private

Definition at line 263 of file amcl_node.cpp.

amcl_hyp_t* AmclNode::initial_pose_hyp_

private

Definition at line 245 of file amcl_node.cpp.

ros::Subscriber AmclNode::initial_pose_sub_

private

Definition at line 196 of file amcl_node.cpp.

ros::Subscriber AmclNode::initial_pose_sub_old_

private

Definition at line 242 of file amcl_node.cpp.

double AmclNode::lambda_short_

private

Definition at line 257 of file amcl_node.cpp.

AMCLLaser* AmclNode::laser_

private

Definition at line 216 of file amcl_node.cpp.

ros::Duration AmclNode::laser_check_interval_

private

Definition at line 272 of file amcl_node.cpp.

double AmclNode::laser_likelihood_max_dist_

private

Definition at line 261 of file amcl_node.cpp.

double AmclNode::laser_max_range_

private

Definition at line 210 of file amcl_node.cpp.

double AmclNode::laser_min_range_

private

Definition at line 209 of file amcl_node.cpp.

laser_model_t AmclNode::laser_model_type_

private

Definition at line 265 of file amcl_node.cpp.

tf::MessageFilter<sensor_msgs::LaserScan>* AmclNode::laser_scan_filter_

private

Definition at line 195 of file amcl_node.cpp.

message_filters::Subscriber<sensor_msgs::LaserScan>* AmclNode::laser_scan_sub_

private

Definition at line 194 of file amcl_node.cpp.

std::vector< AMCLLaser* > AmclNode::lasers_

private

Definition at line 197 of file amcl_node.cpp.

std::vector< bool > AmclNode::lasers_update_

private

Definition at line 198 of file amcl_node.cpp.

ros::Time AmclNode::last_cloud_pub_time

private

Definition at line 219 of file amcl_node.cpp.

ros::Time AmclNode::last_laser_received_ts_

private

Definition at line 271 of file amcl_node.cpp.

geometry_msgs::PoseWithCovarianceStamped AmclNode::last_published_pose

private

Definition at line 187 of file amcl_node.cpp.

tf::Stamped<tf::Pose> AmclNode::latest_odom_pose_

private

Definition at line 174 of file amcl_node.cpp.

tf::Transform AmclNode::latest_tf_

private

Definition at line 140 of file amcl_node.cpp.

bool AmclNode::latest_tf_valid_

private

Definition at line 141 of file amcl_node.cpp.

bool AmclNode::m_force_update

private

Definition at line 213 of file amcl_node.cpp.

map_t* AmclNode::map_

private

Definition at line 189 of file amcl_node.cpp.

ros::Subscriber AmclNode::map_sub_

private

Definition at line 243 of file amcl_node.cpp.

char* AmclNode::mapdata

private

Definition at line 190 of file amcl_node.cpp.

int AmclNode::max_beams_

private

Definition at line 254 of file amcl_node.cpp.

int AmclNode::max_particles_

private

Definition at line 254 of file amcl_node.cpp.

int AmclNode::min_particles_

private

Definition at line 254 of file amcl_node.cpp.

ros::NodeHandle AmclNode::nh_

private

Definition at line 235 of file amcl_node.cpp.

ros::ServiceServer AmclNode::nomotion_update_srv_

private

Definition at line 240 of file amcl_node.cpp.

AMCLOdom* AmclNode::odom_

private

Definition at line 215 of file amcl_node.cpp.

std::string AmclNode::odom_frame_id_

private

Definition at line 171 of file amcl_node.cpp.

odom_model_t AmclNode::odom_model_type_

private

Definition at line 262 of file amcl_node.cpp.

ros::Publisher AmclNode::particlecloud_pub_

private

Definition at line 238 of file amcl_node.cpp.

pf_t* AmclNode::pf_

private

Definition at line 202 of file amcl_node.cpp.

double AmclNode::pf_err_

private

Definition at line 203 of file amcl_node.cpp.

bool AmclNode::pf_init_

private

Definition at line 204 of file amcl_node.cpp.

pf_vector_t AmclNode::pf_odom_pose_

private

Definition at line 205 of file amcl_node.cpp.

double AmclNode::pf_z_

private

Definition at line 203 of file amcl_node.cpp.

ros::Publisher AmclNode::pose_pub_

private

Definition at line 237 of file amcl_node.cpp.

ros::NodeHandle AmclNode::private_nh_

private

Definition at line 236 of file amcl_node.cpp.

int AmclNode::resample_count_

private

Definition at line 208 of file amcl_node.cpp.

int AmclNode::resample_interval_

private

Definition at line 207 of file amcl_node.cpp.

double AmclNode::resolution

private

Definition at line 192 of file amcl_node.cpp.

ros::Time AmclNode::save_pose_last_time

private

Definition at line 184 of file amcl_node.cpp.

ros::Duration AmclNode::save_pose_period

private

Definition at line 185 of file amcl_node.cpp.

bool AmclNode::selective_resampling_

private

Definition at line 267 of file amcl_node.cpp.

bool AmclNode::sent_first_transform_

private

Definition at line 138 of file amcl_node.cpp.

ros::ServiceServer AmclNode::set_map_srv_

private

Definition at line 241 of file amcl_node.cpp.

double AmclNode::sigma_hit_

private

Definition at line 257 of file amcl_node.cpp.

int AmclNode::sx

private

Definition at line 191 of file amcl_node.cpp.

int AmclNode::sy

private

Definition at line 191 of file amcl_node.cpp.

TransformListenerWrapper* AmclNode::tf_

private

Definition at line 136 of file amcl_node.cpp.

bool AmclNode::tf_broadcast_

private

Definition at line 266 of file amcl_node.cpp.

tf::TransformBroadcaster* AmclNode::tfb_

private

Definition at line 128 of file amcl_node.cpp.

ros::Duration AmclNode::transform_tolerance_

private

Definition at line 233 of file amcl_node.cpp.

bool AmclNode::use_map_topic_

private

Definition at line 180 of file amcl_node.cpp.

double AmclNode::z_hit_

private

Definition at line 257 of file amcl_node.cpp.

double AmclNode::z_max_

private

Definition at line 257 of file amcl_node.cpp.

double AmclNode::z_rand_

private

Definition at line 257 of file amcl_node.cpp.

double AmclNode::z_short_

private

Definition at line 257 of file amcl_node.cpp.

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

• amcl_node.cpp