The ICPslamWrapper class provides 2d icp based SLAM from MRPT libraries. More...

#include <mrpt_icp_slam_2d_wrapper.h>

Public Member Functions
void	get_param ()
	read the parameters from launch file More...

	ICPslamWrapper ()
	constructor More...

void	init ()
	initialize publishers subscribers and icp slam More...

void	init3Dwindow ()
	init 3D window from mrpt lib More...

bool	is_file_exists (const std::string &name)
	check the existance of the file More...

void	laserCallback (const sensor_msgs::LaserScan &_msg)
	callback function for the laser scans More...

void	publishMapPose ()
	publish point and/or grid map and robot pose More...

void	publishTF ()
	publis tf tree More...

void	publishTrajectoryTimerCallback (const ros::TimerEvent &event)
	the callback for publish trajectory More...

bool	rawlogPlay ()
	play rawlog file More...

void	read_iniFile (std::string ini_filename)
	read ini file More...

void	run3Dwindow ()
	run 3D window update from mrpt lib More...

void	updateSensorPose (std::string _frame_id)
	update the pose of the sensor with respect to the robot More...

void	updateTrajectoryTimerCallback (const ros::TimerEvent &event)
	the callback for update trajectory More...

	~ICPslamWrapper ()
	destructor More...

Protected Attributes
std::string	base_frame_id
	robot frame More...

bool	CAMERA_3DSCENE_FOLLOWS_ROBOT

std::string	global_frame_id
	/map frame More...

std::string	ini_filename
	name of ini file More...

bool	isObsBasedRawlog

std::map< std::string, mrpt::poses::CPose3D >	laser_poses_
	laser scan poses with respect to the map More...

tf::TransformListener	listenerTF_
	transform listener More...

std::vector< CObservation2DRangeScan::Ptr >	lst_current_laser_scans

CMetricMapBuilderICP	mapBuilder
	icp slam class More...

const CMultiMetricMap *	metric_map_
	receive map after iteration of SLAM to metric map More...

ros::NodeHandle	n_
	Node Handle. More...

CObservation::Ptr	observation

CSensoryFrame::Ptr	observations

std::string	odom_frame_id
	/odom frame More...

nav_msgs::Path	path
	trajectory path More...

geometry_msgs::PoseStamped	pose
	the robot pose More...

ros::Publisher	pub_map_

ros::Publisher	pub_metadata_

ros::Publisher	pub_point_cloud_
	publishers for map and pose particles More...

ros::Publisher	pub_pose_

ros::Timer	publish_trajectory_timer
	timer for publish trajectory More...

std::string	rawlog_filename
	name of rawlog file More...

bool	rawlog_play_
	true if rawlog file exists More...

double	rawlog_play_delay
	delay of replay from rawlog file More...

std::string	sensor_source
	2D laser scans More...

std::vector< ros::Subscriber >	sensorSub_
	list of sensors topics More...

bool	SHOW_LASER_SCANS_3D

bool	SHOW_PROGRESS_3D_REAL_TIME

int	SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS

ros::Time	stamp
	timestamp for observations More...

float	t_exec
	the time which take one SLAM update execution More...

tf::TransformBroadcaster	tf_broadcaster_
	transform broadcaster More...

CTicTac	tictac
	timer for SLAM performance evaluation More...

mrpt::system::TTimeStamp	timeLastUpdate_
	last update of the pose and map More...

ros::Publisher	trajectory_pub_
	trajectory publisher More...

double	trajectory_publish_rate
	trajectory publish rate(Hz) More...

double	trajectory_update_rate
	trajectory update rate(Hz) More...

ros::Timer	update_trajector_timer
	timer for update trajectory More...

mrpt::gui::CDisplayWindow3D::Ptr	win3D_
	MRPT window. More...

Detailed Description

The ICPslamWrapper class provides 2d icp based SLAM from MRPT libraries.

Definition at line 92 of file mrpt_icp_slam_2d_wrapper.h.

Constructor & Destructor Documentation

ICPslamWrapper::ICPslamWrapper ( )

constructor

Definition at line 22 of file mrpt_icp_slam_2d_wrapper.cpp.

ICPslamWrapper::~ICPslamWrapper ( )

destructor

Definition at line 32 of file mrpt_icp_slam_2d_wrapper.cpp.

Member Function Documentation

void ICPslamWrapper::get_param ( )

read the parameters from launch file

Definition at line 96 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::init ( )

initialize publishers subscribers and icp slam

Create publishers///

Create subscribers///

Definition at line 270 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::init3Dwindow ( )

init 3D window from mrpt lib

Definition at line 125 of file mrpt_icp_slam_2d_wrapper.cpp.

bool ICPslamWrapper::is_file_exists ( const std::string & name )

check the existance of the file

Returns: true if file exists

Definition at line 50 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::laserCallback ( const sensor_msgs::LaserScan & _msg )

callback function for the laser scans

Given the laser scans, implement one SLAM update, publish map and pose.

Parameters

_msg	the laser scan message

Definition at line 328 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishMapPose ( )

publish point and/or grid map and robot pose

Definition at line 354 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishTF ( )

publis tf tree

Definition at line 527 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishTrajectoryTimerCallback ( const ros::TimerEvent & event )

the callback for publish trajectory

Parameters

event the event for publish trajectory

Definition at line 565 of file mrpt_icp_slam_2d_wrapper.cpp.

bool ICPslamWrapper::rawlogPlay ( )

play rawlog file

Returns: true if rawlog file exists and played

Definition at line 429 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::read_iniFile ( std::string ini_filename )

read ini file

Parameters

ini_filename the name of the ini file to read

Definition at line 55 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::run3Dwindow ( )

run 3D window update from mrpt lib

Definition at line 137 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::updateSensorPose ( std::string _frame_id )

update the pose of the sensor with respect to the robot

Parameters

frame_id the frame of the sensors

Definition at line 405 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::updateTrajectoryTimerCallback ( const ros::TimerEvent & event )

the callback for update trajectory

Parameters

event the event for update trajectory

Definition at line 557 of file mrpt_icp_slam_2d_wrapper.cpp.

Member Data Documentation

std::string ICPslamWrapper::base_frame_id

protected

robot frame

Definition at line 189 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::CAMERA_3DSCENE_FOLLOWS_ROBOT

protected

Definition at line 230 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::global_frame_id

protected

/map frame

Definition at line 187 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::ini_filename

protected

name of ini file

Definition at line 186 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::isObsBasedRawlog

protected

Definition at line 226 of file mrpt_icp_slam_2d_wrapper.h.

std::map<std::string, mrpt::poses::CPose3D> ICPslamWrapper::laser_poses_

protected

laser scan poses with respect to the map

Definition at line 203 of file mrpt_icp_slam_2d_wrapper.h.

tf::TransformListener ICPslamWrapper::listenerTF_

protected

transform listener

Definition at line 212 of file mrpt_icp_slam_2d_wrapper.h.

std::vector<CObservation2DRangeScan::Ptr> ICPslamWrapper::lst_current_laser_scans

protected

Definition at line 225 of file mrpt_icp_slam_2d_wrapper.h.

CMetricMapBuilderICP ICPslamWrapper::mapBuilder

protected

icp slam class

Definition at line 180 of file mrpt_icp_slam_2d_wrapper.h.

const CMultiMetricMap* ICPslamWrapper::metric_map_

protected

receive map after iteration of SLAM to metric map

Definition at line 208 of file mrpt_icp_slam_2d_wrapper.h.

ros::NodeHandle ICPslamWrapper::n_

protected

Node Handle.

Definition at line 181 of file mrpt_icp_slam_2d_wrapper.h.

CObservation::Ptr ICPslamWrapper::observation

protected

Definition at line 218 of file mrpt_icp_slam_2d_wrapper.h.

CSensoryFrame::Ptr ICPslamWrapper::observations

protected

Definition at line 217 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::odom_frame_id

protected

/odom frame

Definition at line 188 of file mrpt_icp_slam_2d_wrapper.h.

nav_msgs::Path ICPslamWrapper::path

protected

trajectory path

Definition at line 193 of file mrpt_icp_slam_2d_wrapper.h.

geometry_msgs::PoseStamped ICPslamWrapper::pose

protected

the robot pose

Definition at line 190 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_map_

protected

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_metadata_

protected

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_point_cloud_

protected

publishers for map and pose particles

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_pose_

protected

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::Timer ICPslamWrapper::publish_trajectory_timer

protected

timer for publish trajectory

Definition at line 196 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::rawlog_filename

protected

name of rawlog file

Definition at line 185 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::rawlog_play_

protected

true if rawlog file exists

Definition at line 183 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::rawlog_play_delay

protected

delay of replay from rawlog file

Definition at line 182 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::sensor_source

protected

2D laser scans

Definition at line 202 of file mrpt_icp_slam_2d_wrapper.h.

std::vector<ros::Subscriber> ICPslamWrapper::sensorSub_

protected

list of sensors topics

Definition at line 206 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::SHOW_LASER_SCANS_3D

protected

Definition at line 229 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::SHOW_PROGRESS_3D_REAL_TIME

protected

Definition at line 227 of file mrpt_icp_slam_2d_wrapper.h.

int ICPslamWrapper::SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS

protected

Definition at line 228 of file mrpt_icp_slam_2d_wrapper.h.

ros::Time ICPslamWrapper::stamp

protected

timestamp for observations

Definition at line 221 of file mrpt_icp_slam_2d_wrapper.h.

float ICPslamWrapper::t_exec

protected

the time which take one SLAM update execution

Definition at line 216 of file mrpt_icp_slam_2d_wrapper.h.

tf::TransformBroadcaster ICPslamWrapper::tf_broadcaster_

protected

transform broadcaster

Definition at line 213 of file mrpt_icp_slam_2d_wrapper.h.

CTicTac ICPslamWrapper::tictac

protected

timer for SLAM performance evaluation

Definition at line 215 of file mrpt_icp_slam_2d_wrapper.h.

mrpt::system::TTimeStamp ICPslamWrapper::timeLastUpdate_

protected

last update of the pose and map

Definition at line 219 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::trajectory_pub_

protected

trajectory publisher

Definition at line 192 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::trajectory_publish_rate

protected

trajectory publish rate(Hz)

Definition at line 199 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::trajectory_update_rate

protected

trajectory update rate(Hz)

Definition at line 198 of file mrpt_icp_slam_2d_wrapper.h.

ros::Timer ICPslamWrapper::update_trajector_timer

protected

timer for update trajectory

Definition at line 195 of file mrpt_icp_slam_2d_wrapper.h.

mrpt::gui::CDisplayWindow3D::Ptr ICPslamWrapper::win3D_

protected

MRPT window.

Definition at line 223 of file mrpt_icp_slam_2d_wrapper.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation