Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap_ros::CoreWrapper Class Reference

#include <CoreWrapper.h>

Inheritance diagram for rtabmap_ros::CoreWrapper:
Inheritance graph
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Public Member Functions

 CoreWrapper ()
 
virtual ~CoreWrapper ()
 
- Public Member Functions inherited from rtabmap_ros::CommonDataSubscriber
 CommonDataSubscriber (bool gui)
 
int getQueueSize () const
 
bool isApproxSync () const
 
bool isDataSubscribed () const
 
bool isSubscribedToDepth () const
 
bool isSubscribedToOdomInfo () const
 
bool isSubscribedToRGBD () const
 
bool isSubscribedToScan2d () const
 
bool isSubscribedToScan3d () const
 
bool isSubscribedToStereo () const
 
int rgbdCameras () const
 
virtual ~CommonDataSubscriber ()
 
- 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 ()
 

Private Member Functions

bool backupDatabaseCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool cancelGoalCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
virtual void commonDepthCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const sensor_msgs::LaserScanConstPtr &scanMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
 
void commonDepthCallbackImpl (const std::string &odomFrameId, const rtabmap_ros::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const sensor_msgs::LaserScanConstPtr &scan2dMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
 
virtual void commonStereoCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &leftImageMsg, const cv_bridge::CvImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfo &leftCamInfoMsg, const sensor_msgs::CameraInfo &rightCamInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
 
 DATA_SYNCS2 (rgb, sensor_msgs::Image, sensor_msgs::CameraInfo)
 
 DATA_SYNCS3 (rgbOdom, sensor_msgs::Image, sensor_msgs::CameraInfo, nav_msgs::Odometry)
 
void defaultCallback (const sensor_msgs::ImageConstPtr &imageMsg)
 
bool getGridMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
 
bool getMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
 
bool getMapDataCallback (rtabmap_ros::GetMap::Request &req, rtabmap_ros::GetMap::Response &res)
 
bool getPlanCallback (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)
 
bool getProbMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
 
bool getProjMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
 
void globalPoseAsyncCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &globalPoseMsg)
 
void goalActiveCb ()
 
void goalCallback (const geometry_msgs::PoseStampedConstPtr &msg)
 
void goalCommonCallback (int id, const std::string &label, const rtabmap::Transform &pose, const ros::Time &stamp, double *planningTime=0)
 
void goalDoneCb (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
 
void goalFeedbackCb (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
 
void goalNodeCallback (const rtabmap_ros::GoalConstPtr &msg)
 
void initialPoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
 
bool listLabelsCallback (rtabmap_ros::ListLabels::Request &req, rtabmap_ros::ListLabels::Response &res)
 
void loadParameters (const std::string &configFile, rtabmap::ParametersMap &parameters)
 
bool odomTFUpdate (const ros::Time &stamp)
 
bool odomUpdate (const nav_msgs::OdometryConstPtr &odomMsg, ros::Time stamp)
 
virtual void onInit ()
 
bool pauseRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
void process (const ros::Time &stamp, const rtabmap::SensorData &data, const rtabmap::Transform &odom=rtabmap::Transform(), const std::string &odomFrameId="", const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const rtabmap::OdometryInfo &odomInfo=rtabmap::OdometryInfo())
 
void publishCurrentGoal (const ros::Time &stamp)
 
void publishGlobalPath (const ros::Time &stamp)
 
void publishLocalPath (const ros::Time &stamp)
 
void publishLoop (double tfDelay, double tfTolerance)
 
bool publishMapCallback (rtabmap_ros::PublishMap::Request &, rtabmap_ros::PublishMap::Response &)
 
void publishStats (const ros::Time &stamp)
 
bool resetRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool resumeRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
void saveParameters (const std::string &configFile)
 
bool setGoalCallback (rtabmap_ros::SetGoal::Request &req, rtabmap_ros::SetGoal::Response &res)
 
bool setLabelCallback (rtabmap_ros::SetLabel::Request &req, rtabmap_ros::SetLabel::Response &res)
 
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 &)
 
bool setModeLocalizationCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool setModeMappingCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool triggerNewMapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
void updateGoal (const ros::Time &stamp)
 
bool updateRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
void userDataAsyncCallback (const rtabmap_ros::UserDataConstPtr &dataMsg)
 

Private Attributes

ros::ServiceServer backupDatabase_
 
ros::ServiceServer cancelGoalSrv_
 
std::string configPath_
 
cv::Mat covariance_
 
bool createIntermediateNodes_
 
rtabmap::Transform currentMetricGoal_
 
std::string databasePath_
 
image_transport::Subscriber defaultSub_
 
std::string frameId_
 
bool genScan_
 
double genScanMaxDepth_
 
double genScanMinDepth_
 
ros::ServiceServer getGridMapSrv_
 
ros::ServiceServer getMapDataSrv_
 
ros::ServiceServer getMapSrv_
 
ros::ServiceServer getPlanSrv_
 
ros::ServiceServer getProbMapSrv_
 
ros::ServiceServer getProjMapSrv_
 
ros::Publisher globalPathPub_
 
geometry_msgs::PoseWithCovarianceStamped globalPose_
 
ros::Subscriber globalPoseAsyncSub_
 
ros::Subscriber goalNodeSub_
 
ros::Publisher goalReachedPub_
 
ros::Subscriber goalSub_
 
std::string groundTruthBaseFrameId_
 
std::string groundTruthFrameId_
 
ros::Publisher infoPub_
 
ros::Subscriber initialPoseSub_
 
ros::Publisher labelsPub_
 
rtabmap::Transform lastPose_
 
bool lastPoseIntermediate_
 
ros::Time lastPoseStamp_
 
rtabmap::Transform lastPublishedMetricGoal_
 
bool latestNodeWasReached_
 
ros::ServiceServer listLabelsSrv_
 
ros::Publisher localizationPosePub_
 
ros::Publisher localPathPub_
 
ros::Publisher mapDataPub_
 
std::string mapFrameId_
 
ros::Publisher mapGraphPub_
 
ros::Publisher mapPathPub_
 
MapsManager mapsManager_
 
rtabmap::Transform mapToOdom_
 
boost::mutex mapToOdomMutex_
 
int maxMappingNodes_
 
MoveBaseClient mbClient_
 
ros::Publisher nextMetricGoalPub_
 
double odomDefaultAngVariance_
 
double odomDefaultLinVariance_
 
std::string odomFrameId_
 
bool odomSensorSync_
 
rtabmap::ParametersMap parameters_
 
bool paused_
 
ros::ServiceServer pauseSrv_
 
ros::Time previousStamp_
 
ros::ServiceServer publishMapDataSrv_
 
float rate_
 
ros::ServiceServer resetSrv_
 
ros::ServiceServer resumeSrv_
 
message_filters::Subscriber< sensor_msgs::CameraInfo > rgbCameraInfoSub_
 
message_filters::Subscriber< nav_msgs::Odometry > rgbOdomSub_
 
image_transport::SubscriberFilter rgbSub_
 
rtabmap::Rtabmap rtabmap_
 
std::map< std::string, float > rtabmapROSStats_
 
int scanCloudMaxPoints_
 
ros::ServiceServer setGoalSrv_
 
ros::ServiceServer setLabelSrv_
 
ros::ServiceServer setLogDebugSrv_
 
ros::ServiceServer setLogErrorSrv_
 
ros::ServiceServer setLogInfoSrv_
 
ros::ServiceServer setLogWarnSrv_
 
ros::ServiceServer setModeLocalizationSrv_
 
ros::ServiceServer setModeMappingSrv_
 
bool stereoToDepth_
 
tf2_ros::TransformBroadcaster tfBroadcaster_
 
tf::TransformListener tfListener_
 
bool tfThreadRunning_
 
ros::Time time_
 
boost::thread * transformThread_
 
ros::ServiceServer triggerNewMapSrv_
 
ros::ServiceServer updateSrv_
 
bool useActionForGoal_
 
cv::Mat userData_
 
ros::Subscriber userDataAsyncSub_
 
UMutex userDataMutex_
 
bool useSavedMap_
 
bool waitForTransform_
 
double waitForTransformDuration_
 

Additional Inherited Members

- Protected Member Functions inherited from rtabmap_ros::CommonDataSubscriber
void commonSingleDepthCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &imageMsg, const cv_bridge::CvImageConstPtr &depthMsg, const sensor_msgs::CameraInfo &rgbCameraInfoMsg, const sensor_msgs::CameraInfo &depthCameraInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
 
void setupCallbacks (ros::NodeHandle &nh, ros::NodeHandle &pnh, const std::string &name)
 
- 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
 
- Protected Attributes inherited from rtabmap_ros::CommonDataSubscriber
int queueSize_
 
std::string subscribedTopicsMsg_
 

Detailed Description

Definition at line 78 of file CoreWrapper.h.

Constructor & Destructor Documentation

rtabmap_ros::CoreWrapper::CoreWrapper ( )

Definition at line 84 of file CoreWrapper.cpp.

rtabmap_ros::CoreWrapper::~CoreWrapper ( )
virtual

Definition at line 648 of file CoreWrapper.cpp.

Member Function Documentation

bool rtabmap_ros::CoreWrapper::backupDatabaseCallback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
private

Definition at line 2023 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::cancelGoalCallback ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)
private

Definition at line 2517 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::commonDepthCallback ( const nav_msgs::OdometryConstPtr &  odomMsg,
const rtabmap_ros::UserDataConstPtr &  userDataMsg,
const std::vector< cv_bridge::CvImageConstPtr > &  imageMsgs,
const std::vector< cv_bridge::CvImageConstPtr > &  depthMsgs,
const std::vector< sensor_msgs::CameraInfo > &  cameraInfoMsgs,
const sensor_msgs::LaserScanConstPtr &  scanMsg,
const sensor_msgs::PointCloud2ConstPtr &  scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg 
)
privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 980 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::commonDepthCallbackImpl ( const std::string &  odomFrameId,
const rtabmap_ros::UserDataConstPtr &  userDataMsg,
const std::vector< cv_bridge::CvImageConstPtr > &  imageMsgs,
const std::vector< cv_bridge::CvImageConstPtr > &  depthMsgs,
const std::vector< sensor_msgs::CameraInfo > &  cameraInfoMsgs,
const sensor_msgs::LaserScanConstPtr &  scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr &  scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg 
)
private

Definition at line 1042 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::commonStereoCallback ( const nav_msgs::OdometryConstPtr &  odomMsg,
const rtabmap_ros::UserDataConstPtr &  userDataMsg,
const cv_bridge::CvImageConstPtr &  leftImageMsg,
const cv_bridge::CvImageConstPtr &  rightImageMsg,
const sensor_msgs::CameraInfo &  leftCamInfoMsg,
const sensor_msgs::CameraInfo &  rightCamInfoMsg,
const sensor_msgs::LaserScanConstPtr &  scanMsg,
const sensor_msgs::PointCloud2ConstPtr &  scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg 
)
privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 1237 of file CoreWrapper.cpp.

rtabmap_ros::CoreWrapper::DATA_SYNCS2 ( rgb  ,
sensor_msgs::Image  ,
sensor_msgs::CameraInfo   
)
private
rtabmap_ros::CoreWrapper::DATA_SYNCS3 ( rgbOdom  ,
sensor_msgs::Image  ,
sensor_msgs::CameraInfo  ,
nav_msgs::Odometry   
)
private
void rtabmap_ros::CoreWrapper::defaultCallback ( const sensor_msgs::ImageConstPtr &  imageMsg)
private

Definition at line 740 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getGridMapCallback ( nav_msgs::GetMap::Request &  req,
nav_msgs::GetMap::Response &  res 
)
private

Definition at line 2157 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getMapCallback ( nav_msgs::GetMap::Request &  req,
nav_msgs::GetMap::Response &  res 
)
private

Definition at line 2163 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getMapDataCallback ( rtabmap_ros::GetMap::Request &  req,
rtabmap_ros::GetMap::Response &  res 
)
private

Definition at line 2097 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getPlanCallback ( nav_msgs::GetPlan::Request &  req,
nav_msgs::GetPlan::Response &  res 
)
private

Definition at line 2433 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getProbMapCallback ( nav_msgs::GetMap::Request &  req,
nav_msgs::GetMap::Response &  res 
)
private

Definition at line 2196 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getProjMapCallback ( nav_msgs::GetMap::Request &  req,
nav_msgs::GetMap::Response &  res 
)
private

Definition at line 2139 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::globalPoseAsyncCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr &  globalPoseMsg)
private

Definition at line 1742 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalActiveCb ( )
private

Definition at line 2822 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalCallback ( const geometry_msgs::PoseStampedConstPtr &  msg)
private

Definition at line 1889 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalCommonCallback ( int  id,
const std::string &  label,
const rtabmap::Transform &  pose,
const ros::Time &  stamp,
double *  planningTime = 0 
)
private

Definition at line 1762 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalDoneCb ( const actionlib::SimpleClientGoalState &  state,
const move_base_msgs::MoveBaseResultConstPtr &  result 
)
private

Definition at line 2777 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalFeedbackCb ( const move_base_msgs::MoveBaseFeedbackConstPtr &  feedback)
private

Definition at line 2828 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalNodeCallback ( const rtabmap_ros::GoalConstPtr &  msg)
private

Definition at line 1914 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::initialPoseCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr &  msg)
private

Definition at line 1750 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::listLabelsCallback ( rtabmap_ros::ListLabels::Request &  req,
rtabmap_ros::ListLabels::Response &  res 
)
private

Definition at line 2568 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::loadParameters ( const std::string &  configFile,
rtabmap::ParametersMap &  parameters 
)
private

Definition at line 686 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::odomTFUpdate ( const ros::Time &  stamp)
private

Definition at line 927 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::odomUpdate ( const nav_msgs::OdometryConstPtr &  odomMsg,
ros::Time  stamp 
)
private

Definition at line 829 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::onInit ( )
privatevirtual

Implements nodelet::Nodelet.

Definition at line 124 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::pauseRtabmapCallback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
private

Definition at line 1984 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::process ( const ros::Time &  stamp,
const rtabmap::SensorData &  data,
const rtabmap::Transform &  odom = rtabmap::Transform(),
const std::string &  odomFrameId = "",
const cv::Mat &  odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
const rtabmap::OdometryInfo &  odomInfo = rtabmap::OdometryInfo() 
)
private

Definition at line 1458 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::publishCurrentGoal ( const ros::Time &  stamp)
private

Definition at line 2730 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::publishGlobalPath ( const ros::Time &  stamp)
private

Definition at line 2860 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::publishLocalPath ( const ros::Time &  stamp)
private

Definition at line 2834 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::publishLoop ( double  tfDelay,
double  tfTolerance 
)
private

Definition at line 717 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::publishMapCallback ( rtabmap_ros::PublishMap::Request &  req,
rtabmap_ros::PublishMap::Response &  res 
)
private

Definition at line 2229 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::publishStats ( const ros::Time &  stamp)
private

Definition at line 2579 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::resetRtabmapCallback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
private

Definition at line 1965 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::resumeRtabmapCallback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
private

Definition at line 2000 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::saveParameters ( const std::string &  configFile)
private

Definition at line 699 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::setGoalCallback ( rtabmap_ros::SetGoal::Request &  req,
rtabmap_ros::SetGoal::Response &  res 
)
private

Definition at line 2501 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::setLabelCallback ( rtabmap_ros::SetLabel::Request &  req,
rtabmap_ros::SetLabel::Response &  res 
)
private

Definition at line 2541 of file CoreWrapper.cpp.

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

Definition at line 2072 of file CoreWrapper.cpp.

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

Definition at line 2090 of file CoreWrapper.cpp.

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

Definition at line 2078 of file CoreWrapper.cpp.

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

Definition at line 2084 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::setModeLocalizationCallback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
private

Definition at line 2050 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::setModeMappingCallback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
private

Definition at line 2061 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::triggerNewMapCallback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
private

Definition at line 2016 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::updateGoal ( const ros::Time &  stamp)
private
bool rtabmap_ros::CoreWrapper::updateRtabmapCallback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
private

Definition at line 1924 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::userDataAsyncCallback ( const rtabmap_ros::UserDataConstPtr &  dataMsg)
private

Definition at line 1726 of file CoreWrapper.cpp.

Member Data Documentation

ros::ServiceServer rtabmap_ros::CoreWrapper::backupDatabase_
private

Definition at line 241 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::cancelGoalSrv_
private

Definition at line 256 of file CoreWrapper.h.

std::string rtabmap_ros::CoreWrapper::configPath_
private

Definition at line 199 of file CoreWrapper.h.

cv::Mat rtabmap_ros::CoreWrapper::covariance_
private

Definition at line 187 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::createIntermediateNodes_
private

Definition at line 289 of file CoreWrapper.h.

rtabmap::Transform rtabmap_ros::CoreWrapper::currentMetricGoal_
private

Definition at line 188 of file CoreWrapper.h.

std::string rtabmap_ros::CoreWrapper::databasePath_
private

Definition at line 200 of file CoreWrapper.h.

image_transport::Subscriber rtabmap_ros::CoreWrapper::defaultSub_
private

Definition at line 270 of file CoreWrapper.h.

std::string rtabmap_ros::CoreWrapper::frameId_
private

Definition at line 194 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::genScan_
private

Definition at line 207 of file CoreWrapper.h.

double rtabmap_ros::CoreWrapper::genScanMaxDepth_
private

Definition at line 208 of file CoreWrapper.h.

double rtabmap_ros::CoreWrapper::genScanMinDepth_
private

Definition at line 209 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::getGridMapSrv_
private

Definition at line 252 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::getMapDataSrv_
private

Definition at line 248 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::getMapSrv_
private

Definition at line 250 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::getPlanSrv_
private

Definition at line 254 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::getProbMapSrv_
private

Definition at line 251 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::getProjMapSrv_
private

Definition at line 249 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::globalPathPub_
private

Definition at line 230 of file CoreWrapper.h.

geometry_msgs::PoseWithCovarianceStamped rtabmap_ros::CoreWrapper::globalPose_
private

Definition at line 284 of file CoreWrapper.h.

ros::Subscriber rtabmap_ros::CoreWrapper::globalPoseAsyncSub_
private

Definition at line 283 of file CoreWrapper.h.

ros::Subscriber rtabmap_ros::CoreWrapper::goalNodeSub_
private

Definition at line 227 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::goalReachedPub_
private

Definition at line 229 of file CoreWrapper.h.

ros::Subscriber rtabmap_ros::CoreWrapper::goalSub_
private

Definition at line 226 of file CoreWrapper.h.

std::string rtabmap_ros::CoreWrapper::groundTruthBaseFrameId_
private

Definition at line 198 of file CoreWrapper.h.

std::string rtabmap_ros::CoreWrapper::groundTruthFrameId_
private

Definition at line 197 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::infoPub_
private

Definition at line 217 of file CoreWrapper.h.

ros::Subscriber rtabmap_ros::CoreWrapper::initialPoseSub_
private

Definition at line 223 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::labelsPub_
private

Definition at line 220 of file CoreWrapper.h.

rtabmap::Transform rtabmap_ros::CoreWrapper::lastPose_
private

Definition at line 184 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::lastPoseIntermediate_
private

Definition at line 186 of file CoreWrapper.h.

ros::Time rtabmap_ros::CoreWrapper::lastPoseStamp_
private

Definition at line 185 of file CoreWrapper.h.

rtabmap::Transform rtabmap_ros::CoreWrapper::lastPublishedMetricGoal_
private

Definition at line 189 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::latestNodeWasReached_
private

Definition at line 190 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::listLabelsSrv_
private

Definition at line 258 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::localizationPosePub_
private

Definition at line 222 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::localPathPub_
private

Definition at line 231 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::mapDataPub_
private

Definition at line 218 of file CoreWrapper.h.

std::string rtabmap_ros::CoreWrapper::mapFrameId_
private

Definition at line 196 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::mapGraphPub_
private

Definition at line 219 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::mapPathPub_
private

Definition at line 221 of file CoreWrapper.h.

MapsManager rtabmap_ros::CoreWrapper::mapsManager_
private

Definition at line 215 of file CoreWrapper.h.

rtabmap::Transform rtabmap_ros::CoreWrapper::mapToOdom_
private

Definition at line 212 of file CoreWrapper.h.

boost::mutex rtabmap_ros::CoreWrapper::mapToOdomMutex_
private

Definition at line 213 of file CoreWrapper.h.

int rtabmap_ros::CoreWrapper::maxMappingNodes_
private

Definition at line 290 of file CoreWrapper.h.

MoveBaseClient rtabmap_ros::CoreWrapper::mbClient_
private

Definition at line 264 of file CoreWrapper.h.

ros::Publisher rtabmap_ros::CoreWrapper::nextMetricGoalPub_
private

Definition at line 228 of file CoreWrapper.h.

double rtabmap_ros::CoreWrapper::odomDefaultAngVariance_
private

Definition at line 201 of file CoreWrapper.h.

double rtabmap_ros::CoreWrapper::odomDefaultLinVariance_
private

Definition at line 202 of file CoreWrapper.h.

std::string rtabmap_ros::CoreWrapper::odomFrameId_
private

Definition at line 195 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::odomSensorSync_
private

Definition at line 287 of file CoreWrapper.h.

rtabmap::ParametersMap rtabmap_ros::CoreWrapper::parameters_
private

Definition at line 191 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::paused_
private

Definition at line 183 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::pauseSrv_
private

Definition at line 238 of file CoreWrapper.h.

ros::Time rtabmap_ros::CoreWrapper::previousStamp_
private

Definition at line 292 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::publishMapDataSrv_
private

Definition at line 253 of file CoreWrapper.h.

float rtabmap_ros::CoreWrapper::rate_
private

Definition at line 288 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::resetSrv_
private

Definition at line 237 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::resumeSrv_
private

Definition at line 239 of file CoreWrapper.h.

message_filters::Subscriber<sensor_msgs::CameraInfo> rtabmap_ros::CoreWrapper::rgbCameraInfoSub_
private

Definition at line 275 of file CoreWrapper.h.

message_filters::Subscriber<nav_msgs::Odometry> rtabmap_ros::CoreWrapper::rgbOdomSub_
private

Definition at line 274 of file CoreWrapper.h.

image_transport::SubscriberFilter rtabmap_ros::CoreWrapper::rgbSub_
private

Definition at line 273 of file CoreWrapper.h.

rtabmap::Rtabmap rtabmap_ros::CoreWrapper::rtabmap_
private

Definition at line 182 of file CoreWrapper.h.

std::map<std::string, float> rtabmap_ros::CoreWrapper::rtabmapROSStats_
private

Definition at line 192 of file CoreWrapper.h.

int rtabmap_ros::CoreWrapper::scanCloudMaxPoints_
private

Definition at line 210 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::setGoalSrv_
private

Definition at line 255 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::setLabelSrv_
private

Definition at line 257 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::setLogDebugSrv_
private

Definition at line 244 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::setLogErrorSrv_
private

Definition at line 247 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::setLogInfoSrv_
private

Definition at line 245 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::setLogWarnSrv_
private

Definition at line 246 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::setModeLocalizationSrv_
private

Definition at line 242 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::setModeMappingSrv_
private

Definition at line 243 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::stereoToDepth_
private

Definition at line 286 of file CoreWrapper.h.

tf2_ros::TransformBroadcaster rtabmap_ros::CoreWrapper::tfBroadcaster_
private

Definition at line 233 of file CoreWrapper.h.

tf::TransformListener rtabmap_ros::CoreWrapper::tfListener_
private

Definition at line 234 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::tfThreadRunning_
private

Definition at line 267 of file CoreWrapper.h.

ros::Time rtabmap_ros::CoreWrapper::time_
private

Definition at line 291 of file CoreWrapper.h.

boost::thread* rtabmap_ros::CoreWrapper::transformThread_
private

Definition at line 266 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::triggerNewMapSrv_
private

Definition at line 240 of file CoreWrapper.h.

ros::ServiceServer rtabmap_ros::CoreWrapper::updateSrv_
private

Definition at line 236 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::useActionForGoal_
private

Definition at line 205 of file CoreWrapper.h.

cv::Mat rtabmap_ros::CoreWrapper::userData_
private

Definition at line 280 of file CoreWrapper.h.

ros::Subscriber rtabmap_ros::CoreWrapper::userDataAsyncSub_
private

Definition at line 279 of file CoreWrapper.h.

UMutex rtabmap_ros::CoreWrapper::userDataMutex_
private

Definition at line 281 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::useSavedMap_
private

Definition at line 206 of file CoreWrapper.h.

bool rtabmap_ros::CoreWrapper::waitForTransform_
private

Definition at line 203 of file CoreWrapper.h.

double rtabmap_ros::CoreWrapper::waitForTransformDuration_
private

Definition at line 204 of file CoreWrapper.h.

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

rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Fri Jun 7 2019 21:55:05