#include <node.h>

Classes
struct	Subscriber

struct	TrajectorySensorSamplers

Public Member Functions
int	AddOfflineTrajectory (const std::set< cartographer::mapping::TrajectoryBuilderInterface::SensorId > &expected_sensor_ids, const TrajectoryOptions &options)

std::vector< std::set<::cartographer::mapping::TrajectoryBuilderInterface::SensorId > >	ComputeDefaultSensorIdsForMultipleBags (const std::vector< TrajectoryOptions > &bags_options) const

void	FinishAllTrajectories ()

bool	FinishTrajectory (int trajectory_id)

void	HandleImuMessage (int trajectory_id, const std::string &sensor_id, const sensor_msgs::Imu::ConstPtr &msg)

void	HandleLandmarkMessage (int trajectory_id, const std::string &sensor_id, const cartographer_ros_msgs::LandmarkList::ConstPtr &msg)

void	HandleLaserScanMessage (int trajectory_id, const std::string &sensor_id, const sensor_msgs::LaserScan::ConstPtr &msg)

void	HandleMultiEchoLaserScanMessage (int trajectory_id, const std::string &sensor_id, const sensor_msgs::MultiEchoLaserScan::ConstPtr &msg)

void	HandleNavSatFixMessage (int trajectory_id, const std::string &sensor_id, const sensor_msgs::NavSatFix::ConstPtr &msg)

void	HandleOdometryMessage (int trajectory_id, const std::string &sensor_id, const nav_msgs::Odometry::ConstPtr &msg)

void	HandlePointCloud2Message (int trajectory_id, const std::string &sensor_id, const sensor_msgs::PointCloud2::ConstPtr &msg)

void	LoadState (const std::string &state_filename, bool load_frozen_state)

	Node (const NodeOptions &node_options, std::unique_ptr< cartographer::mapping::MapBuilderInterface > map_builder, tf2_ros::Buffer *tf_buffer)

	Node (const Node &)=delete

::ros::NodeHandle *	node_handle ()

Node &	operator= (const Node &)=delete

void	RunFinalOptimization ()

void	SerializeState (const std::string &filename)

void	StartTrajectoryWithDefaultTopics (const TrajectoryOptions &options)

	~Node ()

Private Member Functions
void	AddExtrapolator (int trajectory_id, const TrajectoryOptions &options)

void	AddSensorSamplers (int trajectory_id, const TrajectoryOptions &options)

int	AddTrajectory (const TrajectoryOptions &options, const cartographer_ros_msgs::SensorTopics &topics)

std::set<::cartographer::mapping::TrajectoryBuilderInterface::SensorId >	ComputeExpectedSensorIds (const TrajectoryOptions &options, const cartographer_ros_msgs::SensorTopics &topics) const

cartographer_ros_msgs::StatusResponse	FinishTrajectoryUnderLock (int trajectory_id) REQUIRES(mutex_)

MapBuilderBridge map_builder_bridge_	GUARDED_BY (mutex_)

std::unordered_map< int, bool > is_active_trajectory_	GUARDED_BY (mutex_)

bool	HandleFinishTrajectory (cartographer_ros_msgs::FinishTrajectory::Request &request, cartographer_ros_msgs::FinishTrajectory::Response &response)

bool	HandleStartTrajectory (cartographer_ros_msgs::StartTrajectory::Request &request, cartographer_ros_msgs::StartTrajectory::Response &response)

bool	HandleSubmapQuery (cartographer_ros_msgs::SubmapQuery::Request &request, cartographer_ros_msgs::SubmapQuery::Response &response)

bool	HandleWriteState (cartographer_ros_msgs::WriteState::Request &request, cartographer_ros_msgs::WriteState::Response &response)

void	LaunchSubscribers (const TrajectoryOptions &options, const cartographer_ros_msgs::SensorTopics &topics, int trajectory_id)

void	PublishConstraintList (const ::ros::WallTimerEvent &timer_event)

void	PublishLandmarkPosesList (const ::ros::WallTimerEvent &timer_event)

void	PublishSubmapList (const ::ros::WallTimerEvent &timer_event)

void	PublishTrajectoryNodeList (const ::ros::WallTimerEvent &timer_event)

void	PublishTrajectoryStates (const ::ros::WallTimerEvent &timer_event)

void	SpinOccupancyGridThreadForever ()

bool	ValidateTopicNames (const ::cartographer_ros_msgs::SensorTopics &topics, const TrajectoryOptions &options)

bool	ValidateTrajectoryOptions (const TrajectoryOptions &options)

Private Attributes
::ros::Publisher	constraint_list_publisher_

std::map< int, ::cartographer::mapping::PoseExtrapolator >	extrapolators_

::ros::Publisher	landmark_poses_list_publisher_

cartographer::common::Mutex	mutex_

::ros::NodeHandle	node_handle_

const NodeOptions	node_options_

::ros::Publisher	scan_matched_point_cloud_publisher_

std::unordered_map< int, TrajectorySensorSamplers >	sensor_samplers_

std::vector<::ros::ServiceServer >	service_servers_

::ros::Publisher	submap_list_publisher_

std::unordered_set< std::string >	subscribed_topics_

std::unordered_map< int, std::vector< Subscriber > >	subscribers_

tf2_ros::TransformBroadcaster	tf_broadcaster_

::ros::Publisher	trajectory_node_list_publisher_

std::vector<::ros::WallTimer >	wall_timers_

Detailed Description

Definition at line 56 of file node.h.

Constructor & Destructor Documentation

◆ Node() [1/2]

cartographer_ros::Node::Node	(	const NodeOptions &	node_options,
		std::unique_ptr< cartographer::mapping::MapBuilderInterface >	map_builder,
		tf2_ros::Buffer *	tf_buffer
	)

Definition at line 85 of file node.cc.

◆ ~Node()

cartographer_ros::Node::~Node ( )

Definition at line 134 of file node.cc.

◆ Node() [2/2]

cartographer_ros::Node::Node ( const Node & )

delete

Member Function Documentation

◆ AddExtrapolator()

void cartographer_ros::Node::AddExtrapolator	(	int	trajectory_id,
		const TrajectoryOptions &	options
	)

private

Definition at line 151 of file node.cc.

◆ AddOfflineTrajectory()

int cartographer_ros::Node::AddOfflineTrajectory	(	const std::set< cartographer::mapping::TrajectoryBuilderInterface::SensorId > &	expected_sensor_ids,
		const TrajectoryOptions &	options
	)

Definition at line 544 of file node.cc.

◆ AddSensorSamplers()

void cartographer_ros::Node::AddSensorSamplers	(	int	trajectory_id,
		const TrajectoryOptions &	options
	)

private

Definition at line 168 of file node.cc.

◆ AddTrajectory()

int cartographer_ros::Node::AddTrajectory	(	const TrajectoryOptions &	options,
		const cartographer_ros_msgs::SensorTopics &	topics
	)

private

Definition at line 335 of file node.cc.

◆ ComputeDefaultSensorIdsForMultipleBags()

std::vector< std::set< cartographer::mapping::TrajectoryBuilderInterface::SensorId > > cartographer_ros::Node::ComputeDefaultSensorIdsForMultipleBags ( const std::vector< TrajectoryOptions > & bags_options ) const

Definition at line 525 of file node.cc.

◆ ComputeExpectedSensorIds()

std::set< cartographer::mapping::TrajectoryBuilderInterface::SensorId > cartographer_ros::Node::ComputeExpectedSensorIds	(	const TrajectoryOptions &	options,
		const cartographer_ros_msgs::SensorTopics &	topics
	)		const

private

Definition at line 290 of file node.cc.

◆ FinishAllTrajectories()

void cartographer_ros::Node::FinishAllTrajectories ( )

Definition at line 579 of file node.cc.

◆ FinishTrajectory()

bool cartographer_ros::Node::FinishTrajectory ( int trajectory_id )

Definition at line 590 of file node.cc.

◆ FinishTrajectoryUnderLock()

cartographer_ros_msgs::StatusResponse cartographer_ros::Node::FinishTrajectoryUnderLock ( int trajectory_id )

private

Definition at line 445 of file node.cc.

◆ GUARDED_BY() [1/2]

MapBuilderBridge map_builder_bridge_ cartographer_ros::Node::GUARDED_BY ( mutex_ )

private

◆ GUARDED_BY() [2/2]

std::unordered_map<int, bool> is_active_trajectory_ cartographer_ros::Node::GUARDED_BY ( mutex_ )

private

◆ HandleFinishTrajectory()

bool cartographer_ros::Node::HandleFinishTrajectory	(	cartographer_ros_msgs::FinishTrajectory::Request &	request,
		cartographer_ros_msgs::FinishTrajectory::Response &	response
	)

private

Definition at line 557 of file node.cc.

◆ HandleImuMessage()

void cartographer_ros::Node::HandleImuMessage	(	int	trajectory_id,
		const std::string &	sensor_id,
		const sensor_msgs::Imu::ConstPtr &	msg
	)

Definition at line 645 of file node.cc.

◆ HandleLandmarkMessage()

void cartographer_ros::Node::HandleLandmarkMessage	(	int	trajectory_id,
		const std::string &	sensor_id,
		const cartographer_ros_msgs::LandmarkList::ConstPtr &	msg
	)

Definition at line 634 of file node.cc.

◆ HandleLaserScanMessage()

void cartographer_ros::Node::HandleLaserScanMessage	(	int	trajectory_id,
		const std::string &	sensor_id,
		const sensor_msgs::LaserScan::ConstPtr &	msg
	)

Definition at line 660 of file node.cc.

◆ HandleMultiEchoLaserScanMessage()

void cartographer_ros::Node::HandleMultiEchoLaserScanMessage	(	int	trajectory_id,
		const std::string &	sensor_id,
		const sensor_msgs::MultiEchoLaserScan::ConstPtr &	msg
	)

Definition at line 671 of file node.cc.

◆ HandleNavSatFixMessage()

void cartographer_ros::Node::HandleNavSatFixMessage	(	int	trajectory_id,
		const std::string &	sensor_id,
		const sensor_msgs::NavSatFix::ConstPtr &	msg
	)

Definition at line 623 of file node.cc.

◆ HandleOdometryMessage()

void cartographer_ros::Node::HandleOdometryMessage	(	int	trajectory_id,
		const std::string &	sensor_id,
		const nav_msgs::Odometry::ConstPtr &	msg
	)

Definition at line 608 of file node.cc.

◆ HandlePointCloud2Message()

void cartographer_ros::Node::HandlePointCloud2Message	(	int	trajectory_id,
		const std::string &	sensor_id,
		const sensor_msgs::PointCloud2::ConstPtr &	msg
	)

Definition at line 682 of file node.cc.

◆ HandleStartTrajectory()

bool cartographer_ros::Node::HandleStartTrajectory	(	cartographer_ros_msgs::StartTrajectory::Request &	request,
		cartographer_ros_msgs::StartTrajectory::Response &	response
	)

private

Definition at line 493 of file node.cc.

◆ HandleSubmapQuery()

bool cartographer_ros::Node::HandleSubmapQuery	(	cartographer_ros_msgs::SubmapQuery::Request &	request,
		cartographer_ros_msgs::SubmapQuery::Response &	response
	)

private

Definition at line 138 of file node.cc.

◆ HandleWriteState()

bool cartographer_ros::Node::HandleWriteState	(	cartographer_ros_msgs::WriteState::Request &	request,
		cartographer_ros_msgs::WriteState::Response &	response
	)

private

Definition at line 565 of file node.cc.

◆ LaunchSubscribers()

void cartographer_ros::Node::LaunchSubscribers	(	const TrajectoryOptions &	options,
		const cartographer_ros_msgs::SensorTopics &	topics,
		int	trajectory_id
	)

private

Definition at line 351 of file node.cc.

◆ LoadState()

void cartographer_ros::Node::LoadState	(	const std::string &	state_filename,
		bool	load_frozen_state
	)

Definition at line 699 of file node.cc.

◆ node_handle()

ros::NodeHandle * cartographer_ros::Node::node_handle ( )

Definition at line 136 of file node.cc.

◆ operator=()

Node& cartographer_ros::Node::operator= ( const Node & )

delete

◆ PublishConstraintList()

void cartographer_ros::Node::PublishConstraintList ( const ::ros::WallTimerEvent & timer_event )

private

Definition at line 281 of file node.cc.

◆ PublishLandmarkPosesList()

void cartographer_ros::Node::PublishLandmarkPosesList ( const ::ros::WallTimerEvent & timer_event )

private

Definition at line 272 of file node.cc.

◆ PublishSubmapList()

void cartographer_ros::Node::PublishSubmapList ( const ::ros::WallTimerEvent & timer_event )

private

Definition at line 146 of file node.cc.

◆ PublishTrajectoryNodeList()

void cartographer_ros::Node::PublishTrajectoryNodeList ( const ::ros::WallTimerEvent & timer_event )

private

Definition at line 263 of file node.cc.

◆ PublishTrajectoryStates()

void cartographer_ros::Node::PublishTrajectoryStates ( const ::ros::WallTimerEvent & timer_event )

private

Definition at line 179 of file node.cc.

◆ RunFinalOptimization()

void cartographer_ros::Node::RunFinalOptimization ( )

Definition at line 596 of file node.cc.

◆ SerializeState()

void cartographer_ros::Node::SerializeState ( const std::string & filename )

Definition at line 693 of file node.cc.

◆ SpinOccupancyGridThreadForever()

void cartographer_ros::Node::SpinOccupancyGridThreadForever ( )

private

◆ StartTrajectoryWithDefaultTopics()

void cartographer_ros::Node::StartTrajectoryWithDefaultTopics ( const TrajectoryOptions & options )

Definition at line 517 of file node.cc.

◆ ValidateTopicNames()

bool cartographer_ros::Node::ValidateTopicNames	(	const ::cartographer_ros_msgs::SensorTopics &	topics,
		const TrajectoryOptions &	options
	)

private

Definition at line 432 of file node.cc.

◆ ValidateTrajectoryOptions()

bool cartographer_ros::Node::ValidateTrajectoryOptions ( const TrajectoryOptions & options )

private

Definition at line 420 of file node.cc.

Member Data Documentation

◆ constraint_list_publisher_

::ros::Publisher cartographer_ros::Node::constraint_list_publisher_

private

Definition at line 177 of file node.h.

◆ extrapolators_

std::map<int, ::cartographer::mapping::PoseExtrapolator> cartographer_ros::Node::extrapolators_

private

Definition at line 202 of file node.h.

◆ landmark_poses_list_publisher_

::ros::Publisher cartographer_ros::Node::landmark_poses_list_publisher_

private

Definition at line 176 of file node.h.

◆ mutex_

cartographer::common::Mutex cartographer_ros::Node::mutex_

private

Definition at line 170 of file node.h.

◆ node_handle_

::ros::NodeHandle cartographer_ros::Node::node_handle_

private

Definition at line 173 of file node.h.

◆ node_options_

const NodeOptions cartographer_ros::Node::node_options_

private

Definition at line 166 of file node.h.

◆ scan_matched_point_cloud_publisher_

::ros::Publisher cartographer_ros::Node::scan_matched_point_cloud_publisher_

private

Definition at line 180 of file node.h.

◆ sensor_samplers_

std::unordered_map<int, TrajectorySensorSamplers> cartographer_ros::Node::sensor_samplers_

private

Definition at line 203 of file node.h.

◆ service_servers_

std::vector<::ros::ServiceServer> cartographer_ros::Node::service_servers_

private

Definition at line 179 of file node.h.

◆ submap_list_publisher_

::ros::Publisher cartographer_ros::Node::submap_list_publisher_

private

Definition at line 174 of file node.h.

◆ subscribed_topics_

std::unordered_set<std::string> cartographer_ros::Node::subscribed_topics_

private

Definition at line 205 of file node.h.

◆ subscribers_

std::unordered_map<int, std::vector<Subscriber> > cartographer_ros::Node::subscribers_

private

Definition at line 204 of file node.h.

◆ tf_broadcaster_

tf2_ros::TransformBroadcaster cartographer_ros::Node::tf_broadcaster_

private

Definition at line 168 of file node.h.

◆ trajectory_node_list_publisher_

::ros::Publisher cartographer_ros::Node::trajectory_node_list_publisher_

private

Definition at line 175 of file node.h.

◆ wall_timers_

std::vector<::ros::WallTimer> cartographer_ros::Node::wall_timers_

private

Definition at line 210 of file node.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Node() [1/2]

◆ ~Node()

◆ Node() [2/2]

Member Function Documentation

◆ AddExtrapolator()

◆ AddOfflineTrajectory()

◆ AddSensorSamplers()

◆ AddTrajectory()

◆ ComputeDefaultSensorIdsForMultipleBags()

◆ ComputeExpectedSensorIds()

◆ FinishAllTrajectories()

◆ FinishTrajectory()

◆ FinishTrajectoryUnderLock()

◆ GUARDED_BY() [1/2]

◆ GUARDED_BY() [2/2]

◆ HandleFinishTrajectory()

◆ HandleImuMessage()

◆ HandleLandmarkMessage()

◆ HandleLaserScanMessage()

◆ HandleMultiEchoLaserScanMessage()

◆ HandleNavSatFixMessage()

◆ HandleOdometryMessage()

◆ HandlePointCloud2Message()

◆ HandleStartTrajectory()

◆ HandleSubmapQuery()

◆ HandleWriteState()

◆ LaunchSubscribers()

◆ LoadState()

◆ node_handle()

◆ operator=()

◆ PublishConstraintList()

◆ PublishLandmarkPosesList()

◆ PublishSubmapList()

◆ PublishTrajectoryNodeList()

◆ PublishTrajectoryStates()

◆ RunFinalOptimization()

◆ SerializeState()

◆ SpinOccupancyGridThreadForever()

◆ StartTrajectoryWithDefaultTopics()

◆ ValidateTopicNames()

◆ ValidateTrajectoryOptions()

Member Data Documentation

◆ constraint_list_publisher_

◆ extrapolators_

◆ landmark_poses_list_publisher_

◆ mutex_

◆ node_handle_

◆ node_options_

◆ scan_matched_point_cloud_publisher_

◆ sensor_samplers_

◆ service_servers_

◆ submap_list_publisher_

◆ subscribed_topics_

◆ subscribers_

◆ tf_broadcaster_

◆ trajectory_node_list_publisher_

◆ wall_timers_