cartographer_ros Namespace Reference

Classes
class	MapBuilderBridge
class	Node
struct	NodeOptions
class	ScopedRosLogSink
class	SensorBridge
class	TfBridge
struct	TrajectoryOptions

Functions
void	BuildOccupancyGrid2D (const std::vector<::cartographer::mapping::TrajectoryNode > &trajectory_nodes, const string &map_frame, const ::cartographer::mapping_2d::proto::SubmapsOptions &submaps_options,::nav_msgs::OccupancyGrid *const occupancy_grid)
::cartographer::mapping_2d::MapLimits	ComputeMapLimits (const double resolution, const std::vector<::cartographer::mapping::TrajectoryNode > &trajectory_nodes)
NodeOptions	CreateNodeOptions (::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
TrajectoryOptions	CreateTrajectoryOptions (::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
::cartographer::common::Time	FromRos (const ::ros::Time &time)
::std_msgs::ColorRGBA	GetColor (int id)
std::vector< geometry_msgs::TransformStamped >	ReadStaticTransformsFromUrdf (const string &urdf_filename, tf2_ros::Buffer *const tf_buffer)
Eigen::Vector3d	ToEigen (const geometry_msgs::Vector3 &vector3)
Eigen::Quaterniond	ToEigen (const geometry_msgs::Quaternion &quaternion)
geometry_msgs::Point	ToGeometryMsgPoint (const Eigen::Vector3d &vector3d)
geometry_msgs::Pose	ToGeometryMsgPose (const ::cartographer::transform::Rigid3d &rigid3d)
geometry_msgs::Pose	ToGeometryMsgPose (const Rigid3d &rigid3d)
geometry_msgs::Transform	ToGeometryMsgTransform (const ::cartographer::transform::Rigid3d &rigid3d)
geometry_msgs::Transform	ToGeometryMsgTransform (const Rigid3d &rigid3d)
sensor_msgs::PointCloud2	ToPointCloud2Message (const int64 timestamp, const string &frame_id, const ::cartographer::sensor::PointCloud &point_cloud)
PointCloudWithIntensities	ToPointCloudWithIntensities (const sensor_msgs::LaserScan &msg)
PointCloudWithIntensities	ToPointCloudWithIntensities (const sensor_msgs::MultiEchoLaserScan &msg)
PointCloudWithIntensities	ToPointCloudWithIntensities (const sensor_msgs::PointCloud2 &message)
PoseCovariance	ToPoseCovariance (const boost::array< double, 36 > &covariance)
Rigid3d	ToRigid3d (const geometry_msgs::TransformStamped &transform)
Rigid3d	ToRigid3d (const geometry_msgs::Pose &pose)
::ros::Time	ToRos (::cartographer::common::Time time)
void	Write2DAssets (const std::vector<::cartographer::mapping::TrajectoryNode > &trajectory_nodes, const string &map_frame, const ::cartographer::mapping_2d::proto::SubmapsOptions &submaps_options, const std::string &stem)
void	Write3DAssets (const std::vector<::cartographer::mapping::TrajectoryNode > &trajectory_nodes, const double voxel_size, const std::string &stem)
void	WriteOccupancyGridToPgmAndYaml (const ::nav_msgs::OccupancyGrid &occupancy_grid, const std::string &stem)

Variables
constexpr char	kFinishTrajectoryServiceName [] = "finish_trajectory"
constexpr char	kImuTopic [] = "imu"
constexpr char	kLaserScanTopic [] = "scan"
constexpr char	kMultiEchoLaserScanTopic [] = "echoes"
constexpr char	kOccupancyGridTopic [] = "map"
constexpr char	kOdometryTopic [] = "odom"
constexpr char	kPointCloud2Topic [] = "points2"
constexpr char	kScanMatchedPointCloudTopic [] = "scan_matched_points2"
constexpr char	kStartTrajectoryServiceName [] = "start_trajectory"
constexpr char	kSubmapListTopic [] = "submap_list"
constexpr char	kSubmapQueryServiceName [] = "submap_query"
constexpr double	kTrajectoryLineStripMarkerScale = 0.07
constexpr char	kTrajectoryNodesListTopic [] = "trajectory_nodes_list"
constexpr char	kWriteAssetsServiceName [] = "write_assets"

Function Documentation

void cartographer_ros::BuildOccupancyGrid2D	(	const std::vector<::cartographer::mapping::TrajectoryNode > &	trajectory_nodes,
		const string &	map_frame,
		const ::cartographer::mapping_2d::proto::SubmapsOptions &	submaps_options,
		::nav_msgs::OccupancyGrid *const	occupancy_grid
	)

Definition at line 60 of file occupancy_grid.cc.

cartographer::mapping_2d::MapLimits cartographer_ros::ComputeMapLimits	(	const double	resolution,
		const std::vector<::cartographer::mapping::TrajectoryNode > &	trajectory_nodes
	)

Definition at line 129 of file occupancy_grid.cc.

NodeOptions cartographer_ros::CreateNodeOptions

(

::cartographer::common::LuaParameterDictionary *const

lua_parameter_dictionary

)

Definition at line 23 of file node_options.cc.

TrajectoryOptions cartographer_ros::CreateTrajectoryOptions

(

::cartographer::common::LuaParameterDictionary *const

lua_parameter_dictionary

)

Definition at line 23 of file trajectory_options.cc.

cartographer::common::Time cartographer_ros::FromRos

(

const ::ros::Time &

time

)

Definition at line 37 of file time_conversion.cc.

std_msgs::ColorRGBA cartographer_ros::GetColor

(

int

id

)

Definition at line 70 of file color.cc.

std::vector< geometry_msgs::TransformStamped > cartographer_ros::ReadStaticTransformsFromUrdf	(	const string &	urdf_filename,
		tf2_ros::Buffer *const	tf_buffer
	)

Definition at line 27 of file urdf_reader.cc.

Eigen::Vector3d cartographer_ros::ToEigen

(

const geometry_msgs::Vector3 &

vector3

)

Definition at line 201 of file msg_conversion.cc.

Eigen::Quaterniond cartographer_ros::ToEigen

(

const geometry_msgs::Quaternion &

quaternion

)

Definition at line 205 of file msg_conversion.cc.

geometry_msgs::Point cartographer_ros::ToGeometryMsgPoint

(

const Eigen::Vector3d &

vector3d

)

Definition at line 236 of file msg_conversion.cc.

geometry_msgs::Pose cartographer_ros::ToGeometryMsgPose

(

const ::cartographer::transform::Rigid3d &

rigid3d

)

geometry_msgs::Pose cartographer_ros::ToGeometryMsgPose

(

const Rigid3d &

rigid3d

)

Definition at line 226 of file msg_conversion.cc.

geometry_msgs::Transform cartographer_ros::ToGeometryMsgTransform

(

const ::cartographer::transform::Rigid3d &

rigid3d

)

geometry_msgs::Transform cartographer_ros::ToGeometryMsgTransform

(

const Rigid3d &

rigid3d

)

Definition at line 214 of file msg_conversion.cc.

sensor_msgs::PointCloud2 cartographer_ros::ToPointCloud2Message	(	const int64	timestamp,
		const string &	frame_id,
		const ::cartographer::sensor::PointCloud &	point_cloud
	)

Definition at line 141 of file msg_conversion.cc.

cartographer::sensor::PointCloudWithIntensities cartographer_ros::ToPointCloudWithIntensities

(

const sensor_msgs::LaserScan &

msg

)

Definition at line 155 of file msg_conversion.cc.

cartographer::sensor::PointCloudWithIntensities cartographer_ros::ToPointCloudWithIntensities

(

const sensor_msgs::MultiEchoLaserScan &

msg

)

Definition at line 160 of file msg_conversion.cc.

cartographer::sensor::PointCloudWithIntensities cartographer_ros::ToPointCloudWithIntensities

(

const sensor_msgs::PointCloud2 &

message

)

Definition at line 165 of file msg_conversion.cc.

cartographer::kalman_filter::PoseCovariance cartographer_ros::ToPoseCovariance

(

const boost::array< double, 36 > &

covariance

)

Definition at line 210 of file msg_conversion.cc.

cartographer::transform::Rigid3d cartographer_ros::ToRigid3d

(

const geometry_msgs::TransformStamped &

transform

)

Definition at line 191 of file msg_conversion.cc.

cartographer::transform::Rigid3d cartographer_ros::ToRigid3d

(

const geometry_msgs::Pose &

pose

)

Definition at line 196 of file msg_conversion.cc.

ros::Time cartographer_ros::ToRos

(

::cartographer::common::Time

time

)

Definition at line 24 of file time_conversion.cc.

void cartographer_ros::Write2DAssets	(	const std::vector<::cartographer::mapping::TrajectoryNode > &	trajectory_nodes,
		const string &	map_frame,
		const ::cartographer::mapping_2d::proto::SubmapsOptions &	submaps_options,
		const std::string &	stem
	)

Definition at line 35 of file assets_writer.cc.

void cartographer_ros::Write3DAssets	(	const std::vector<::cartographer::mapping::TrajectoryNode > &	trajectory_nodes,
		const double	voxel_size,
		const std::string &	stem
	)

Definition at line 49 of file assets_writer.cc.

void cartographer_ros::WriteOccupancyGridToPgmAndYaml	(	const ::nav_msgs::OccupancyGrid &	occupancy_grid,
		const std::string &	stem
	)

Definition at line 82 of file map_writer.cc.

Variable Documentation

constexpr char cartographer_ros::kFinishTrajectoryServiceName[] = "finish_trajectory"

Definition at line 47 of file node.h.

constexpr char cartographer_ros::kImuTopic[] = "imu"

Definition at line 45 of file node.h.

constexpr char cartographer_ros::kLaserScanTopic[] = "scan"

Definition at line 42 of file node.h.

constexpr char cartographer_ros::kMultiEchoLaserScanTopic[] = "echoes"

Definition at line 43 of file node.h.

constexpr char cartographer_ros::kOccupancyGridTopic[] = "map"

Definition at line 48 of file node.h.

constexpr char cartographer_ros::kOdometryTopic[] = "odom"

Definition at line 46 of file node.h.

constexpr char cartographer_ros::kPointCloud2Topic[] = "points2"

Definition at line 44 of file node.h.

constexpr char cartographer_ros::kScanMatchedPointCloudTopic[] = "scan_matched_points2"

Definition at line 49 of file node.h.

constexpr char cartographer_ros::kStartTrajectoryServiceName[] = "start_trajectory"

Definition at line 52 of file node.h.

constexpr char cartographer_ros::kSubmapListTopic[] = "submap_list"

Definition at line 50 of file node.h.

constexpr char cartographer_ros::kSubmapQueryServiceName[] = "submap_query"

Definition at line 51 of file node.h.

constexpr double cartographer_ros::kTrajectoryLineStripMarkerScale = 0.07

Definition at line 27 of file map_builder_bridge.cc.

constexpr char cartographer_ros::kTrajectoryNodesListTopic[] = "trajectory_nodes_list"

Definition at line 54 of file node.h.

constexpr char cartographer_ros::kWriteAssetsServiceName[] = "write_assets"

Definition at line 53 of file node.h.