#include <OctomapServer.h>

Inheritance diagram for octomap_server::OctomapServer:

Public Types
typedef octomap_msgs::BoundingBoxQuery	BBXSrv

typedef octomap_msgs::GetOctomap	OctomapSrv

typedef octomap::OcTree	OcTreeT

typedef pcl::PointXYZ	PCLPoint

typedef pcl::PointCloud< pcl::PointXYZ >	PCLPointCloud

Public Member Functions
bool	clearBBXSrv (BBXSrv::Request &req, BBXSrv::Response &resp)

virtual void	insertCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud)

virtual bool	octomapBinarySrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)

virtual bool	octomapFullSrv (OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res)

	OctomapServer (const ros::NodeHandle private_nh_=ros::NodeHandle("~"), const ros::NodeHandle &nh_=ros::NodeHandle())

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

bool	resetSrv (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

virtual	~OctomapServer ()

Protected Member Functions
void	adjustMapData (nav_msgs::OccupancyGrid &map, const nav_msgs::MapMetaData &oldMapInfo) const

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!) More...

virtual void	handleFreeNode (const OcTreeT::iterator &it)
	hook that is called when traversing free nodes of the updated Octree More...

virtual void	handleFreeNodeInBBX (const OcTreeT::iterator &it)
	hook that is called when traversing free nodes in the updated area (updates 2D map projection here) More...

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

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) More...

virtual void	handleOccupiedNode (const OcTreeT::iterator &it)
	hook that is called when traversing occupied nodes of the updated Octree More...

virtual void	handleOccupiedNodeInBBX (const OcTreeT::iterator &it)
	hook that is called when traversing occupied nodes in the updated area (updates 2D map projection here) More...

virtual void	handlePostNodeTraversal (const ros::Time &rostime)
	hook that is called after traversing all nodes More...

virtual void	handlePreNodeTraversal (const ros::Time &rostime)
	hook that is called before traversing all nodes More...

virtual void	insertScan (const tf::Point &sensorOrigin, 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. More...

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

bool	isSpeckleNode (const octomap::OcTreeKey &key) const
	Find speckle nodes (single occupied voxels with no neighbors). Only works on lowest resolution! More...

bool	mapChanged (const nav_msgs::MapMetaData &oldMapInfo, const nav_msgs::MapMetaData &newMapInfo)

unsigned	mapIdx (int i, int j) const

unsigned	mapIdx (const octomap::OcTreeKey &key) const

virtual void	publishAll (const ros::Time &rostime=ros::Time::now())

void	publishBinaryOctoMap (const ros::Time &rostime=ros::Time::now()) const

void	publishFullOctoMap (const ros::Time &rostime=ros::Time::now()) const

void	reconfigureCallback (octomap_server::OctomapServerConfig &config, uint32_t level)

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

Static Protected Member Functions
static std_msgs::ColorRGBA	heightMapColor (double h)

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

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

Protected Attributes
std::string	m_baseFrameId

ros::Publisher	m_binaryMapPub

ros::ServiceServer	m_clearBBXService

ros::Publisher	m_cmapPub

ros::Publisher	m_collisionObjectPub

std_msgs::ColorRGBA	m_color

double	m_colorFactor

std_msgs::ColorRGBA	m_colorFree

bool	m_compressMap

boost::recursive_mutex	m_config_mutex

bool	m_filterGroundPlane

bool	m_filterSpeckles

ros::Publisher	m_fmapPub

ros::Publisher	m_fmarkerPub

ros::Publisher	m_fullMapPub

nav_msgs::OccupancyGrid	m_gridmap

double	m_groundFilterAngle

double	m_groundFilterDistance

double	m_groundFilterPlaneDistance

bool	m_incrementalUpdate

bool	m_initConfig

octomap::KeyRay	m_keyRay

bool	m_latchedTopics

bool	m_mapOriginChanged

ros::Publisher	m_mapPub

ros::Publisher	m_markerPub

double	m_maxRange

unsigned	m_maxTreeDepth

double	m_minSizeX

double	m_minSizeY

unsigned	m_multires2DScale

ros::NodeHandle	m_nh

ros::NodeHandle	m_nh_private

double	m_occupancyMaxZ

double	m_occupancyMinZ

ros::ServiceServer	m_octomapBinaryService

ros::ServiceServer	m_octomapFullService

OcTreeT *	m_octree

octomap::OcTreeKey	m_paddedMinKey

double	m_pointcloudMaxX

double	m_pointcloudMaxY

double	m_pointcloudMaxZ

double	m_pointcloudMinX

double	m_pointcloudMinY

double	m_pointcloudMinZ

ros::Publisher	m_pointCloudPub

message_filters::Subscriber< sensor_msgs::PointCloud2 > *	m_pointCloudSub

bool	m_projectCompleteMap

bool	m_publish2DMap

bool	m_publishFreeSpace

dynamic_reconfigure::Server< OctomapServerConfig >	m_reconfigureServer

double	m_res

ros::ServiceServer	m_resetService

tf::TransformListener	m_tfListener

tf::MessageFilter< sensor_msgs::PointCloud2 > *	m_tfPointCloudSub

unsigned	m_treeDepth

octomap::OcTreeKey	m_updateBBXMax

octomap::OcTreeKey	m_updateBBXMin

bool	m_useColoredMap

bool	m_useHeightMap

std::string	m_worldFrameId

Detailed Description

Definition at line 81 of file OctomapServer.h.

Member Typedef Documentation

typedef octomap_msgs::BoundingBoxQuery octomap_server::OctomapServer::BBXSrv

Definition at line 94 of file OctomapServer.h.

typedef octomap_msgs::GetOctomap octomap_server::OctomapServer::OctomapSrv

Definition at line 93 of file OctomapServer.h.

typedef octomap::OcTree octomap_server::OctomapServer::OcTreeT

Definition at line 91 of file OctomapServer.h.

typedef pcl::PointXYZ octomap_server::OctomapServer::PCLPoint

Definition at line 89 of file OctomapServer.h.

typedef pcl::PointCloud<pcl::PointXYZ> octomap_server::OctomapServer::PCLPointCloud

Definition at line 90 of file OctomapServer.h.

Constructor & Destructor Documentation

octomap_server::OctomapServer::OctomapServer	(	const ros::NodeHandle	private_nh_ = `ros::NodeHandle("~")`,
		const ros::NodeHandle &	nh_ = `ros::NodeHandle()`
	)

Definition at line 42 of file OctomapServer.cpp.

octomap_server::OctomapServer::~OctomapServer ( )

virtual

Definition at line 189 of file OctomapServer.cpp.

Member Function Documentation

void octomap_server::OctomapServer::adjustMapData	(	nav_msgs::OccupancyGrid &	map,
		const nav_msgs::MapMetaData &	oldMapInfo
	)		const

protected

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 oldMapInfo.

Definition at line 1188 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::clearBBXSrv	(	BBXSrv::Request &	req,
		BBXSrv::Response &	resp
	)

Definition at line 733 of file OctomapServer.cpp.

void octomap_server::OctomapServer::filterGroundPlane	(	const PCLPointCloud &	pc,
		PCLPointCloud &	ground,
		PCLPointCloud &	nonground
	)		const

protected

label the input cloud "pc" into ground and nonground. Should be in the robot's fixed frame (not world!)

Definition at line 824 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handleFreeNode ( const OcTreeT::iterator & it )

protectedvirtual

hook that is called when traversing free nodes of the updated Octree

Definition at line 1056 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handleFreeNodeInBBX ( const OcTreeT::iterator & it )

protectedvirtual

hook that is called when traversing free nodes in the updated area (updates 2D map projection here)

Definition at line 1070 of file OctomapServer.cpp.

virtual void octomap_server::OctomapServer::handleNode ( const OcTreeT::iterator & it )

inlineprotectedvirtual

hook that is called when traversing all nodes of the updated Octree (does nothing here)

Definition at line 157 of file OctomapServer.h.

virtual void octomap_server::OctomapServer::handleNodeInBBX ( const OcTreeT::iterator & it )

inlineprotectedvirtual

hook that is called when traversing all nodes of the updated Octree in the updated area (does nothing here)

Definition at line 160 of file OctomapServer.h.

void octomap_server::OctomapServer::handleOccupiedNode ( const OcTreeT::iterator & it )

protectedvirtual

hook that is called when traversing occupied nodes of the updated Octree

Definition at line 1049 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handleOccupiedNodeInBBX ( const OcTreeT::iterator & it )

protectedvirtual

hook that is called when traversing occupied nodes in the updated area (updates 2D map projection here)

Definition at line 1063 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handlePostNodeTraversal ( const ros::Time & rostime )

protectedvirtual

hook that is called after traversing all nodes

Reimplemented in octomap_server::OctomapServerMultilayer.

Definition at line 1043 of file OctomapServer.cpp.

void octomap_server::OctomapServer::handlePreNodeTraversal ( const ros::Time & rostime )

protectedvirtual

hook that is called before traversing all nodes

Reimplemented in octomap_server::OctomapServerMultilayer.

Definition at line 933 of file OctomapServer.cpp.

std_msgs::ColorRGBA octomap_server::OctomapServer::heightMapColor ( double h )

staticprotected

Definition at line 1229 of file OctomapServer.cpp.

void octomap_server::OctomapServer::insertCloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud )

virtual

Definition at line 261 of file OctomapServer.cpp.

void octomap_server::OctomapServer::insertScan	(	const tf::Point &	sensorOrigin,
		const PCLPointCloud &	ground,
		const PCLPointCloud &	nonground
	)

protectedvirtual

update occupancy map with a scan labeled as ground and nonground. The scans should be in the global map frame.

Parameters

sensorOrigin	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)

Reimplemented in octomap_server::TrackingOctomapServer.

Definition at line 355 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::isInUpdateBBX ( const OcTreeT::iterator & it ) const

inlineprotected

Test if key is within update area of map (2D, ignores height)

Definition at line 118 of file OctomapServer.h.

bool octomap_server::OctomapServer::isSpeckleNode ( const octomap::OcTreeKey & key ) const

protected

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

Parameters

key

Returns

Definition at line 1110 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::mapChanged	(	const nav_msgs::MapMetaData &	oldMapInfo,
		const nav_msgs::MapMetaData &	newMapInfo
	)

inlineprotected

Definition at line 198 of file OctomapServer.h.

unsigned octomap_server::OctomapServer::mapIdx	(	int	i,
		int	j
	)		const

inlineprotected

Definition at line 180 of file OctomapServer.h.

unsigned octomap_server::OctomapServer::mapIdx ( const octomap::OcTreeKey & key ) const

inlineprotected

Definition at line 184 of file OctomapServer.h.

bool octomap_server::OctomapServer::octomapBinarySrv	(	OctomapSrv::Request &	req,
		OctomapSrv::GetOctomap::Response &	res
	)

virtual

Definition at line 704 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::octomapFullSrv	(	OctomapSrv::Request &	req,
		OctomapSrv::GetOctomap::Response &	res
	)

virtual

Definition at line 719 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::openFile ( const std::string & filename )

virtual

Definition at line 208 of file OctomapServer.cpp.

void octomap_server::OctomapServer::publishAll ( const ros::Time & rostime = ros::Time::now() )

protectedvirtual

Definition at line 483 of file OctomapServer.cpp.

void octomap_server::OctomapServer::publishBinaryOctoMap ( const ros::Time & rostime = ros::Time::now() ) const

protected

Definition at line 798 of file OctomapServer.cpp.

void octomap_server::OctomapServer::publishFullOctoMap ( const ros::Time & rostime = ros::Time::now() ) const

protected

Definition at line 810 of file OctomapServer.cpp.

void octomap_server::OctomapServer::reconfigureCallback	(	octomap_server::OctomapServerConfig &	config,
		uint32_t	level
	)

protected

Definition at line 1130 of file OctomapServer.cpp.

bool octomap_server::OctomapServer::resetSrv	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

Definition at line 752 of file OctomapServer.cpp.

void octomap_server::OctomapServer::update2DMap	(	const OcTreeT::iterator &	it,
		bool	occupied
	)

protectedvirtual

updates the downprojected 2D map as either occupied or free

Reimplemented in octomap_server::OctomapServerMultilayer.

Definition at line 1077 of file OctomapServer.cpp.

static void octomap_server::OctomapServer::updateMaxKey	(	const octomap::OcTreeKey &	in,
		octomap::OcTreeKey &	max
	)

inlinestaticprotected

Definition at line 112 of file OctomapServer.h.

static void octomap_server::OctomapServer::updateMinKey	(	const octomap::OcTreeKey &	in,
		octomap::OcTreeKey &	min
	)

inlinestaticprotected

Definition at line 107 of file OctomapServer.h.

Member Data Documentation

std::string octomap_server::OctomapServer::m_baseFrameId

protected

Definition at line 223 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_binaryMapPub

protected

Definition at line 208 of file OctomapServer.h.

ros::ServiceServer octomap_server::OctomapServer::m_clearBBXService

protected

Definition at line 211 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_cmapPub

protected

Definition at line 208 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_collisionObjectPub

protected

Definition at line 208 of file OctomapServer.h.

std_msgs::ColorRGBA octomap_server::OctomapServer::m_color

protected

Definition at line 225 of file OctomapServer.h.

double octomap_server::OctomapServer::m_colorFactor

protected

Definition at line 227 of file OctomapServer.h.

std_msgs::ColorRGBA octomap_server::OctomapServer::m_colorFree

protected

Definition at line 226 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_compressMap

protected

Definition at line 253 of file OctomapServer.h.

boost::recursive_mutex octomap_server::OctomapServer::m_config_mutex

protected

Definition at line 213 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_filterGroundPlane

protected

Definition at line 248 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_filterSpeckles

protected

Definition at line 246 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_fmapPub

protected

Definition at line 208 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_fmarkerPub

protected

Definition at line 208 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_fullMapPub

protected

Definition at line 208 of file OctomapServer.h.

nav_msgs::OccupancyGrid octomap_server::OctomapServer::m_gridmap

protected

Definition at line 259 of file OctomapServer.h.

double octomap_server::OctomapServer::m_groundFilterAngle

protected

Definition at line 250 of file OctomapServer.h.

double octomap_server::OctomapServer::m_groundFilterDistance

protected

Definition at line 249 of file OctomapServer.h.

double octomap_server::OctomapServer::m_groundFilterPlaneDistance

protected

Definition at line 251 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_incrementalUpdate

protected

Definition at line 258 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_initConfig

protected

Definition at line 255 of file OctomapServer.h.

octomap::KeyRay octomap_server::OctomapServer::m_keyRay

protected

Definition at line 217 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_latchedTopics

protected

Definition at line 229 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_mapOriginChanged

protected

Definition at line 261 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_mapPub

protected

Definition at line 208 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_markerPub

protected

Definition at line 208 of file OctomapServer.h.

double octomap_server::OctomapServer::m_maxRange

protected

Definition at line 221 of file OctomapServer.h.

unsigned octomap_server::OctomapServer::m_maxTreeDepth

protected

Definition at line 234 of file OctomapServer.h.

double octomap_server::OctomapServer::m_minSizeX

protected

Definition at line 244 of file OctomapServer.h.

double octomap_server::OctomapServer::m_minSizeY

protected

Definition at line 245 of file OctomapServer.h.

unsigned octomap_server::OctomapServer::m_multires2DScale

protected

Definition at line 263 of file OctomapServer.h.

ros::NodeHandle octomap_server::OctomapServer::m_nh

protected

Definition at line 206 of file OctomapServer.h.

ros::NodeHandle octomap_server::OctomapServer::m_nh_private

protected

Definition at line 207 of file OctomapServer.h.

double octomap_server::OctomapServer::m_occupancyMaxZ

protected

Definition at line 243 of file OctomapServer.h.

double octomap_server::OctomapServer::m_occupancyMinZ

protected

Definition at line 242 of file OctomapServer.h.

ros::ServiceServer octomap_server::OctomapServer::m_octomapBinaryService

protected

Definition at line 211 of file OctomapServer.h.

ros::ServiceServer octomap_server::OctomapServer::m_octomapFullService

protected

Definition at line 211 of file OctomapServer.h.

OcTreeT* octomap_server::OctomapServer::m_octree

protected

Definition at line 216 of file OctomapServer.h.

octomap::OcTreeKey octomap_server::OctomapServer::m_paddedMinKey

protected

Definition at line 262 of file OctomapServer.h.

double octomap_server::OctomapServer::m_pointcloudMaxX

protected

Definition at line 237 of file OctomapServer.h.

double octomap_server::OctomapServer::m_pointcloudMaxY

protected

Definition at line 239 of file OctomapServer.h.

double octomap_server::OctomapServer::m_pointcloudMaxZ

protected

Definition at line 241 of file OctomapServer.h.

double octomap_server::OctomapServer::m_pointcloudMinX

protected

Definition at line 236 of file OctomapServer.h.

double octomap_server::OctomapServer::m_pointcloudMinY

protected

Definition at line 238 of file OctomapServer.h.

double octomap_server::OctomapServer::m_pointcloudMinZ

protected

Definition at line 240 of file OctomapServer.h.

ros::Publisher octomap_server::OctomapServer::m_pointCloudPub

protected

Definition at line 208 of file OctomapServer.h.

message_filters::Subscriber<sensor_msgs::PointCloud2>* octomap_server::OctomapServer::m_pointCloudSub

protected

Definition at line 209 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_projectCompleteMap

protected

Definition at line 264 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_publish2DMap

protected

Definition at line 260 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_publishFreeSpace

protected

Definition at line 230 of file OctomapServer.h.

dynamic_reconfigure::Server<OctomapServerConfig> octomap_server::OctomapServer::m_reconfigureServer

protected

Definition at line 214 of file OctomapServer.h.

double octomap_server::OctomapServer::m_res

protected

Definition at line 232 of file OctomapServer.h.

ros::ServiceServer octomap_server::OctomapServer::m_resetService

protected

Definition at line 211 of file OctomapServer.h.

tf::TransformListener octomap_server::OctomapServer::m_tfListener

protected

Definition at line 212 of file OctomapServer.h.

tf::MessageFilter<sensor_msgs::PointCloud2>* octomap_server::OctomapServer::m_tfPointCloudSub

protected

Definition at line 210 of file OctomapServer.h.

unsigned octomap_server::OctomapServer::m_treeDepth

protected

Definition at line 233 of file OctomapServer.h.

octomap::OcTreeKey octomap_server::OctomapServer::m_updateBBXMax

protected

Definition at line 219 of file OctomapServer.h.

octomap::OcTreeKey octomap_server::OctomapServer::m_updateBBXMin

protected

Definition at line 218 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_useColoredMap

protected

Definition at line 265 of file OctomapServer.h.

bool octomap_server::OctomapServer::m_useHeightMap

protected

Definition at line 224 of file OctomapServer.h.

std::string octomap_server::OctomapServer::m_worldFrameId

protected

Definition at line 222 of file OctomapServer.h.

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

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation