#include <OdometryROS.h>

Inheritance diagram for rtabmap_ros::OdometryROS:

[legend]

Public Member Functions
const std::string &	frameId () const

rtabmap::Transform	getTransform (const std::string &fromFrameId, const std::string &toFrameId, const ros::Time &stamp) const

bool	isPaused () const

	OdometryROS (bool stereoParams, bool visParams, bool icpParams)

const std::string &	odomFrameId () const

const rtabmap::ParametersMap &	parameters () const

bool	pause (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	processData (const rtabmap::SensorData &data, const ros::Time &stamp, const std::string &sensorFrameId)

bool	reset (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	resetToPose (rtabmap_ros::ResetPose::Request &, rtabmap_ros::ResetPose::Response &)

bool	resume (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setLogDebug (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setLogError (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setLogInfo (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setLogWarn (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

virtual	~OdometryROS ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
void	callbackCalled ()

virtual void	flushCallbacks ()=0

void	startWarningThread (const std::string &subscribedTopicsMsg, bool approxSync)

tf::TransformListener &	tfListener ()

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Private Member Functions
void	callbackIMU (const sensor_msgs::ImuConstPtr &msg)

virtual void	onInit ()

virtual void	onOdomInit ()=0

void	reset (const rtabmap::Transform &pose=rtabmap::Transform::getIdentity())

virtual void	updateParameters (rtabmap::ParametersMap &parameters)

void	warningLoop (const std::string &subscribedTopicsMsg, bool approxSync)

Private Attributes
std::pair< rtabmap::SensorData, std::pair< ros::Time, std::string > >	bufferedData_

bool	callbackCalled_

double	expectedUpdateRate_

std::string	frameId_

std::string	groundTruthBaseFrameId_

std::string	groundTruthFrameId_

rtabmap::Transform	guess_

std::string	guessFrameId_

double	guessMinRotation_

double	guessMinTime_

double	guessMinTranslation_

rtabmap::Transform	guessPreviousPose_

bool	icpParams_

bool	imuProcessed_

std::map< double, rtabmap::IMU >	imus_

ros::Subscriber	imuSub_

double	maxUpdateRate_

rtabmap::Odometry *	odometry_

std::string	odomFrameId_

ros::Publisher	odomInfoPub_

ros::Publisher	odomLastFrame_

ros::Publisher	odomLocalMap_

ros::Publisher	odomLocalScanMap_

ros::Publisher	odomPub_

ros::Publisher	odomRgbdImagePub_

int	odomStrategy_

rtabmap::ParametersMap	parameters_

bool	paused_

ros::ServiceServer	pauseSrv_

double	previousStamp_

bool	publishNullWhenLost_

bool	publishTf_

int	resetCountdown_

int	resetCurrentCount_

ros::ServiceServer	resetSrv_

ros::ServiceServer	resetToPoseSrv_

ros::ServiceServer	resumeSrv_

ros::ServiceServer	setLogDebugSrv_

ros::ServiceServer	setLogErrorSrv_

ros::ServiceServer	setLogInfoSrv_

ros::ServiceServer	setLogWarnSrv_

bool	stereoParams_

tf2_ros::TransformBroadcaster	tfBroadcaster_

tf::TransformListener	tfListener_

bool	visParams_

bool	waitForTransform_

double	waitForTransformDuration_

bool	waitIMUToinit_

boost::thread *	warningThread_

Detailed Description

Definition at line 53 of file OdometryROS.h.

Constructor & Destructor Documentation

rtabmap_ros::OdometryROS::OdometryROS	(	bool	stereoParams,
		bool	visParams,
		bool	icpParams
	)

Definition at line 59 of file OdometryROS.cpp.

rtabmap_ros::OdometryROS::~OdometryROS ( )

virtual

Definition at line 91 of file OdometryROS.cpp.

Member Function Documentation

void rtabmap_ros::OdometryROS::callbackCalled ( )

inlineprotected

Definition at line 79 of file OdometryROS.h.

void rtabmap_ros::OdometryROS::callbackIMU ( const sensor_msgs::ImuConstPtr & msg )

private

Definition at line 422 of file OdometryROS.cpp.

virtual void rtabmap_ros::OdometryROS::flushCallbacks ( )

protectedpure virtual

Implemented in rtabmap_ros::ICPOdometry, rtabmap_ros::RGBDOdometry, rtabmap_ros::StereoOdometry, and rtabmap_ros::RGBDICPOdometry.

const std::string& rtabmap_ros::OdometryROS::frameId ( ) const

inline

Definition at line 71 of file OdometryROS.h.

Transform rtabmap_ros::OdometryROS::getTransform	(	const std::string &	fromFrameId,
		const std::string &	toFrameId,
		const ros::Time &	stamp
	)		const

Definition at line 393 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::isPaused ( ) const

inline

Definition at line 74 of file OdometryROS.h.

const std::string& rtabmap_ros::OdometryROS::odomFrameId ( ) const

inline

Definition at line 72 of file OdometryROS.h.

void rtabmap_ros::OdometryROS::onInit ( )

privatevirtual

Implements nodelet::Nodelet.

Definition at line 111 of file OdometryROS.cpp.

virtual void rtabmap_ros::OdometryROS::onOdomInit ( )

privatepure virtual

Implemented in rtabmap_ros::RGBDOdometry, rtabmap_ros::RGBDICPOdometry, rtabmap_ros::ICPOdometry, and rtabmap_ros::StereoOdometry.

const rtabmap::ParametersMap& rtabmap_ros::OdometryROS::parameters ( ) const

inline

Definition at line 73 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::pause	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 980 of file OdometryROS.cpp.

void rtabmap_ros::OdometryROS::processData	(	const rtabmap::SensorData &	data,
		const ros::Time &	stamp,
		const std::string &	sensorFrameId
	)

Definition at line 517 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::reset	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 952 of file OdometryROS.cpp.

void rtabmap_ros::OdometryROS::reset ( const rtabmap::Transform & pose = rtabmap::Transform::getIdentity() )

private

Definition at line 967 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::resetToPose	(	rtabmap_ros::ResetPose::Request &	req,
		rtabmap_ros::ResetPose::Response &
	)

Definition at line 959 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::resume	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 994 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::setLogDebug	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1008 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::setLogError	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1026 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::setLogInfo	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1014 of file OdometryROS.cpp.

bool rtabmap_ros::OdometryROS::setLogWarn	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1020 of file OdometryROS.cpp.

void rtabmap_ros::OdometryROS::startWarningThread	(	const std::string &	subscribedTopicsMsg,
		bool	approxSync
	)

protected

Definition at line 368 of file OdometryROS.cpp.

tf::TransformListener& rtabmap_ros::OdometryROS::tfListener ( )

inlineprotected

Definition at line 82 of file OdometryROS.h.

virtual void rtabmap_ros::OdometryROS::updateParameters ( rtabmap::ParametersMap & parameters )

inlineprivatevirtual

Definition at line 88 of file OdometryROS.h.

void rtabmap_ros::OdometryROS::warningLoop	(	const std::string &	subscribedTopicsMsg,
		bool	approxSync
	)

private

Definition at line 374 of file OdometryROS.cpp.

Member Data Documentation

std::pair<rtabmap::SensorData, std::pair<ros::Time, std::string> > rtabmap_ros::OdometryROS::bufferedData_

private

Definition at line 146 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::callbackCalled_

private

Definition at line 96 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::expectedUpdateRate_

private

Definition at line 140 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::frameId_

private

Definition at line 99 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::groundTruthBaseFrameId_

private

Definition at line 102 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::groundTruthFrameId_

private

Definition at line 101 of file OdometryROS.h.

rtabmap::Transform rtabmap_ros::OdometryROS::guess_

private

Definition at line 137 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::guessFrameId_

private

Definition at line 103 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::guessMinRotation_

private

Definition at line 105 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::guessMinTime_

private

Definition at line 106 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::guessMinTranslation_

private

Definition at line 104 of file OdometryROS.h.

rtabmap::Transform rtabmap_ros::OdometryROS::guessPreviousPose_

private

Definition at line 138 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::icpParams_

private

Definition at line 136 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::imuProcessed_

private

Definition at line 144 of file OdometryROS.h.

std::map<double, rtabmap::IMU> rtabmap_ros::OdometryROS::imus_

private

Definition at line 145 of file OdometryROS.h.

ros::Subscriber rtabmap_ros::OdometryROS::imuSub_

private

Definition at line 129 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::maxUpdateRate_

private

Definition at line 141 of file OdometryROS.h.

rtabmap::Odometry* rtabmap_ros::OdometryROS::odometry_

private

Definition at line 94 of file OdometryROS.h.

std::string rtabmap_ros::OdometryROS::odomFrameId_

private

Definition at line 100 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomInfoPub_

private

Definition at line 114 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomLastFrame_

private

Definition at line 117 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomLocalMap_

private

Definition at line 115 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomLocalScanMap_

private

Definition at line 116 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomPub_

private

Definition at line 113 of file OdometryROS.h.

ros::Publisher rtabmap_ros::OdometryROS::odomRgbdImagePub_

private

Definition at line 118 of file OdometryROS.h.

int rtabmap_ros::OdometryROS::odomStrategy_

private

Definition at line 142 of file OdometryROS.h.

rtabmap::ParametersMap rtabmap_ros::OdometryROS::parameters_

private

Definition at line 111 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::paused_

private

Definition at line 131 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::pauseSrv_

private

Definition at line 121 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::previousStamp_

private

Definition at line 139 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::publishNullWhenLost_

private

Definition at line 110 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::publishTf_

private

Definition at line 107 of file OdometryROS.h.

int rtabmap_ros::OdometryROS::resetCountdown_

private

Definition at line 132 of file OdometryROS.h.

int rtabmap_ros::OdometryROS::resetCurrentCount_

private

Definition at line 133 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::resetSrv_

private

Definition at line 119 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::resetToPoseSrv_

private

Definition at line 120 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::resumeSrv_

private

Definition at line 122 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::setLogDebugSrv_

private

Definition at line 123 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::setLogErrorSrv_

private

Definition at line 126 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::setLogInfoSrv_

private

Definition at line 124 of file OdometryROS.h.

ros::ServiceServer rtabmap_ros::OdometryROS::setLogWarnSrv_

private

Definition at line 125 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::stereoParams_

private

Definition at line 134 of file OdometryROS.h.

tf2_ros::TransformBroadcaster rtabmap_ros::OdometryROS::tfBroadcaster_

private

Definition at line 127 of file OdometryROS.h.

tf::TransformListener rtabmap_ros::OdometryROS::tfListener_

private

Definition at line 128 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::visParams_

private

Definition at line 135 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::waitForTransform_

private

Definition at line 108 of file OdometryROS.h.

double rtabmap_ros::OdometryROS::waitForTransformDuration_

private

Definition at line 109 of file OdometryROS.h.

bool rtabmap_ros::OdometryROS::waitIMUToinit_

private

Definition at line 143 of file OdometryROS.h.

boost::thread* rtabmap_ros::OdometryROS::warningThread_

private

Definition at line 95 of file OdometryROS.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation