Class template that provides a wrapper around the MRPT CGraphSlamEngine class template and implements methods for interacting with ROS. More...
#include <CGraphSlamEngine_ROS.h>
Public Types | |
| typedef CGraphSlamEngine< GRAPH_t > | parent |
Public Member Functions | |
| CGraphSlamEngine_ROS (ros::NodeHandle *nh, const std::string &config_file, const std::string &rawlog_fname="", const std::string &fname_GT="", mrpt::graphslam::CWindowManager *win_manager=NULL, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *node_reg=NULL, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *edge_reg=NULL, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *optimizer=NULL) | |
| void | initClass () |
| Initialize object instance. More... | |
| void | setupComm () |
| Wrapper method around the protected setup* class methods. More... | |
| virtual | ~CGraphSlamEngine_ROS () |
Public Attributes | |
| ros::NodeHandle * | m_nh |
Protected Member Functions | |
| virtual bool | _execGraphSlamStep (mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation, size_t &rawlog_entry) |
| void | readParams () |
| Read the problem configuration parameters. More... | |
| void | readROSParameters () |
| Read configuration parameters from the ROS parameter server. More... | |
| virtual void | usePublishersBroadcasters () |
| Provide feedback about the SLAM operation. More... | |
setup* ROS-related methods | |
Methods for setting up topic subscribers, publishers, and corresponding services
| |
| virtual void | setupSubs () |
| virtual void | setupPubs () |
| virtual void | setupSrvs () |
Protected Attributes | |
| ros::CallbackQueue | custom_service_queue |
| Custom Callback queue for processing requests for the services outside the standard CallbackQueue. More... | |
| int | m_queue_size |
Detailed Description
template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >
Class template that provides a wrapper around the MRPT CGraphSlamEngine class template and implements methods for interacting with ROS.
Definition at line 25 of file CGraphSlamEngine_ROS.h.
Member Typedef Documentation
| typedef CGraphSlamEngine<GRAPH_t> mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::parent |
Definition at line 28 of file CGraphSlamEngine_ROS.h.
Constructor & Destructor Documentation
| mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::CGraphSlamEngine_ROS | ( | ros::NodeHandle * | nh, |
| const std::string & | config_file, | ||
| const std::string & | rawlog_fname = "", |
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| const std::string & | fname_GT = "", |
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| mrpt::graphslam::CWindowManager * | win_manager = NULL, |
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| mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > * | node_reg = NULL, |
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| mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > * | edge_reg = NULL, |
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| mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > * | optimizer = NULL |
||
| ) |
Definition at line 14 of file CGraphSlamEngine_ROS_impl.h.
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virtual |
Definition at line 37 of file CGraphSlamEngine_ROS_impl.h.
Member Function Documentation
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protectedvirtual |
Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.
Definition at line 91 of file CGraphSlamEngine_ROS_impl.h.
| void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::initClass | ( | ) |
Initialize object instance.
Definition at line 43 of file CGraphSlamEngine_ROS_impl.h.
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protected |
Read the problem configuration parameters.
- See also
- readROSParameters, CGraphSlamEngine::loadParams
Definition at line 82 of file CGraphSlamEngine_ROS_impl.h.
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protected |
Read configuration parameters from the ROS parameter server.
- Note
- Method is automatically called on object construction.
- See also
- readParams, initClass
Definition at line 88 of file CGraphSlamEngine_ROS_impl.h.
| void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupComm | ( | ) |
Wrapper method around the protected setup* class methods.
Handy for setting up publishers, subscribers, services all at once.
Definition at line 108 of file CGraphSlamEngine_ROS_impl.h.
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protectedvirtual |
Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.
Definition at line 126 of file CGraphSlamEngine_ROS_impl.h.
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protectedvirtual |
Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.
Definition at line 132 of file CGraphSlamEngine_ROS_impl.h.
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protectedvirtual |
Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.
Definition at line 120 of file CGraphSlamEngine_ROS_impl.h.
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protectedvirtual |
Provide feedback about the SLAM operation.
Method makes the necessary calls to all the publishers of the class and broadcaster instances
Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.
Definition at line 105 of file CGraphSlamEngine_ROS_impl.h.
Member Data Documentation
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protected |
Custom Callback queue for processing requests for the services outside the standard CallbackQueue.
- Note
- Logical thing would be to define it in CGraphSlamEngine_MR, but that results in an segfault with the following error message: pure virtual method calledterminate called without an active exception
Definition at line 97 of file CGraphSlamEngine_ROS.h.
| ros::NodeHandle* mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::m_nh |
Definition at line 51 of file CGraphSlamEngine_ROS.h.
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protected |
Definition at line 100 of file CGraphSlamEngine_ROS.h.
The documentation for this class was generated from the following files: