LocalObstaclesNode Class Reference

Classes
struct	TAuxInitializer
struct	TInfoPerTimeStep

Public Member Functions
	LocalObstaclesNode (int argc, char **argv)

Private Types
typedef std::multimap< double, TInfoPerTimeStep >	TListObservations

Private Member Functions
void	onDoPublish (const ros::TimerEvent &)
void	onNewSensor_Laser2D (const sensor_msgs::LaserScanConstPtr &scan)
template<typename CALLBACK_METHOD_TYPE >
size_t	subscribeToMultipleTopics (const std::string &lstTopics, std::vector< ros::Subscriber > &subs, CALLBACK_METHOD_TYPE cb)
	Subscribe to a variable number of topics. More...

Private Attributes
TAuxInitializer	m_auxinit
	Just to make sure ROS is init first. More...
std::string	m_frameid_reference
	typ: "odom" More...
std::string	m_frameid_robot
	typ: "base_link" More...
mrpt::gui::CDisplayWindow3D::Ptr	m_gui_win
TListObservations	m_hist_obs
boost::mutex	m_hist_obs_mtx
	the interest time window. More...
CSimplePointsMap	m_localmap_pts
ros::NodeHandle	m_localn
	"~" More...
ros::NodeHandle	m_nh
	The node handle. More...
CTimeLogger	m_profiler
double	m_publish_period
	than m_publish_period More...
bool	m_show_gui
std::string	m_source_topics_2dscan
	Default: "scan,laser1". More...
double	m_time_window
ros::Timer	m_timer_publish
	than m_time_window More...
std::string	m_topic_local_map_pointcloud
	Default: "local_map_pointcloud". More...
ROS pubs/subs
ros::Publisher	m_pub_local_map_pointcloud
std::vector< ros::Subscriber >	m_subs_2dlaser
	Subscriber to 2D laser scans. More...
tf::TransformListener	m_tf_listener
	Use to retrieve TF data. More...

Detailed Description

Definition at line 76 of file mrpt_local_obstacles_node.cpp.

Member Typedef Documentation

typedef std::multimap<double, TInfoPerTimeStep> LocalObstaclesNode::TListObservations

private

Definition at line 111 of file mrpt_local_obstacles_node.cpp.

Constructor & Destructor Documentation

LocalObstaclesNode::LocalObstaclesNode ( int  argc, char **  argv  )

inline

Constructor: Inits ROS system

Definition at line 382 of file mrpt_local_obstacles_node.cpp.

Member Function Documentation

void LocalObstaclesNode::onDoPublish ( const ros::TimerEvent &  )

inlineprivate

Callback: On recalc local map & publish it

Definition at line 233 of file mrpt_local_obstacles_node.cpp.

void LocalObstaclesNode::onNewSensor_Laser2D ( const sensor_msgs::LaserScanConstPtr &  scan )

inlineprivate

Callback: On new sensor data

Definition at line 151 of file mrpt_local_obstacles_node.cpp.

template<typename CALLBACK_METHOD_TYPE >

size_t LocalObstaclesNode::subscribeToMultipleTopics ( const std::string &  lstTopics, std::vector< ros::Subscriber > &  subs, CALLBACK_METHOD_TYPE  cb  )

inlineprivate

Subscribe to a variable number of topics.

Parameters

lstTopics	String with list of topics separated with ","
subs[in,out]	List of subscribers will be here at return.

Returns

The number of topics subscribed to.

Definition at line 137 of file mrpt_local_obstacles_node.cpp.

Member Data Documentation

TAuxInitializer LocalObstaclesNode::m_auxinit

private

Just to make sure ROS is init first.

Definition at line 89 of file mrpt_local_obstacles_node.cpp.

std::string LocalObstaclesNode::m_frameid_reference

private

typ: "odom"

Definition at line 93 of file mrpt_local_obstacles_node.cpp.

std::string LocalObstaclesNode::m_frameid_robot

private

typ: "base_link"

Definition at line 94 of file mrpt_local_obstacles_node.cpp.

mrpt::gui::CDisplayWindow3D::Ptr LocalObstaclesNode::m_gui_win

private

Definition at line 120 of file mrpt_local_obstacles_node.cpp.

TListObservations LocalObstaclesNode::m_hist_obs

private

The history of past observations during

Definition at line 112 of file mrpt_local_obstacles_node.cpp.

boost::mutex LocalObstaclesNode::m_hist_obs_mtx

private

the interest time window.

Definition at line 114 of file mrpt_local_obstacles_node.cpp.

CSimplePointsMap LocalObstaclesNode::m_localmap_pts

private

The local maps

Definition at line 117 of file mrpt_local_obstacles_node.cpp.

ros::NodeHandle LocalObstaclesNode::m_localn

private

"~"

Definition at line 91 of file mrpt_local_obstacles_node.cpp.

ros::NodeHandle LocalObstaclesNode::m_nh

private

The node handle.

Definition at line 90 of file mrpt_local_obstacles_node.cpp.

CTimeLogger LocalObstaclesNode::m_profiler

private

Definition at line 87 of file mrpt_local_obstacles_node.cpp.

ros::Publisher LocalObstaclesNode::m_pub_local_map_pointcloud

private

Definition at line 124 of file mrpt_local_obstacles_node.cpp.

double LocalObstaclesNode::m_publish_period

private

than m_publish_period

In secs (default: 0.05). This can't be larger

Definition at line 100 of file mrpt_local_obstacles_node.cpp.

bool LocalObstaclesNode::m_show_gui

private

Definition at line 92 of file mrpt_local_obstacles_node.cpp.

std::string LocalObstaclesNode::m_source_topics_2dscan

private

Default: "scan,laser1".

Definition at line 97 of file mrpt_local_obstacles_node.cpp.

std::vector<ros::Subscriber> LocalObstaclesNode::m_subs_2dlaser

private

Subscriber to 2D laser scans.

Definition at line 126 of file mrpt_local_obstacles_node.cpp.

tf::TransformListener LocalObstaclesNode::m_tf_listener

private

Use to retrieve TF data.

Definition at line 127 of file mrpt_local_obstacles_node.cpp.

double LocalObstaclesNode::m_time_window

private

In secs (default: 0.2). This can't be smaller

Definition at line 98 of file mrpt_local_obstacles_node.cpp.

ros::Timer LocalObstaclesNode::m_timer_publish

private

than m_time_window

Definition at line 103 of file mrpt_local_obstacles_node.cpp.

std::string LocalObstaclesNode::m_topic_local_map_pointcloud

private

Default: "local_map_pointcloud".

Definition at line 96 of file mrpt_local_obstacles_node.cpp.

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

• mrpt_local_obstacles_node.cpp