cartographer_ros Namespace Reference

Classes
class	AssetsWriter
class	MapBuilderBridge
class	Node
struct	NodeOptions
class	PlayableBag
class	PlayableBagMultiplexer
class	RosMapWritingPointsProcessor
class	ScopedRosLogSink
class	SensorBridge
class	TfBridge
struct	TrajectoryOptions

Typedefs
using	MapBuilderFactory = std::function< std::unique_ptr<::cartographer::mapping::MapBuilderInterface >(const ::cartographer::mapping::proto::MapBuilderOptions &)>

Functions
cartographer::transform::Rigid3d	ComputeLocalFrameFromLatLong (const double latitude, const double longitude)
std::vector< std::string >	ComputeRepeatedTopicNames (const std::string &topic, const int num_topics)
::cartographer::mapping::proto::InitialTrajectoryPose	CreateInitialTrajectoryPose (::cartographer::common::LuaParameterDictionary *lua_parameter_dictionary)
NodeOptions	CreateNodeOptions (::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
std::unique_ptr< nav_msgs::OccupancyGrid >	CreateOccupancyGridMsg (const cartographer::io::PaintSubmapSlicesResult &painted_slices, const double resolution, const std::string &frame_id, const ros::Time &time)
TrajectoryOptions	CreateTrajectoryOptions (::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
TrajectoryOptions	CreateTrajectoryOptions (::cartographer::common::LuaParameterDictionary *lua_parameter_dictionary, ::cartographer::common::LuaParameterDictionary *initial_trajectory_pose)
std::unique_ptr<::cartographer::io::SubmapTextures >	FetchSubmapTextures (const ::cartographer::mapping::SubmapId &submap_id, ros::ServiceClient *client)
::cartographer::common::Time	FromRos (const ::ros::Time &time)
bool	FromRosMessage (const cartographer_ros_msgs::TrajectoryOptions &msg, TrajectoryOptions *options)
Eigen::Vector3d	LatLongAltToEcef (const double latitude, const double longitude, const double altitude)
std::tuple< NodeOptions, TrajectoryOptions >	LoadOptions (const std::string &configuration_directory, const std::string &configuration_basename)
std::vector< geometry_msgs::TransformStamped >	ReadStaticTransformsFromUrdf (const std::string &urdf_filename, tf2_ros::Buffer *const tf_buffer)
void	RunOfflineNode (const MapBuilderFactory &map_builder_factory)
std::vector< std::string >	SplitString (const std::string &input, const char delimiter)
Eigen::Vector3d	ToEigen (const geometry_msgs::Vector3 &vector3)
Eigen::Quaterniond	ToEigen (const geometry_msgs::Quaternion &quaternion)
geometry_msgs::Point	ToGeometryMsgPoint (const Eigen::Vector3d &vector3d)
geometry_msgs::Pose	ToGeometryMsgPose (const ::cartographer::transform::Rigid3d &rigid3d)
geometry_msgs::Pose	ToGeometryMsgPose (const Rigid3d &rigid3d)
geometry_msgs::Transform	ToGeometryMsgTransform (const ::cartographer::transform::Rigid3d &rigid3d)
geometry_msgs::Transform	ToGeometryMsgTransform (const Rigid3d &rigid3d)
::cartographer::sensor::LandmarkData	ToLandmarkData (const cartographer_ros_msgs::LandmarkList &landmark_list)
LandmarkData	ToLandmarkData (const LandmarkList &landmark_list)
sensor_msgs::PointCloud2	ToPointCloud2Message (const int64_t timestamp, const std::string &frame_id, const ::cartographer::sensor::TimedPointCloud &point_cloud)
std::tuple<::cartographer::sensor::PointCloudWithIntensities, ::cartographer::common::Time >	ToPointCloudWithIntensities (const sensor_msgs::LaserScan &msg)
std::tuple<::cartographer::sensor::PointCloudWithIntensities, ::cartographer::common::Time >	ToPointCloudWithIntensities (const sensor_msgs::MultiEchoLaserScan &msg)
std::tuple<::cartographer::sensor::PointCloudWithIntensities, ::cartographer::common::Time >	ToPointCloudWithIntensities (const sensor_msgs::PointCloud2 &message)
Rigid3d	ToRigid3d (const geometry_msgs::TransformStamped &transform)
Rigid3d	ToRigid3d (const geometry_msgs::Pose &pose)
::ros::Time	ToRos (::cartographer::common::Time time)
cartographer_ros_msgs::TrajectoryOptions	ToRosMessage (const TrajectoryOptions &options)
void	WritePgm (const ::cartographer::io::Image &image, const double resolution, ::cartographer::io::FileWriter *file_writer)
void	WriteYaml (const double resolution, const Eigen::Vector2d &origin, const std::string &pgm_filename, ::cartographer::io::FileWriter *file_writer)

Variables
constexpr double	kClockPublishFrequencySec = 1. / 30.
constexpr char	kClockTopic [] = "clock"
constexpr char	kConstraintListTopic [] = "constraint_list"
constexpr double	kConstraintPublishPeriodSec = 0.5
const ::ros::Duration	kDelay = ::ros::Duration(1.0)
constexpr char	kFinishTrajectoryServiceName [] = "finish_trajectory"
constexpr char	kImuTopic [] = "imu"
constexpr int	kInfiniteSubscriberQueueSize = 0
constexpr char	kLandmarkPosesListTopic [] = "landmark_poses_list"
constexpr char	kLandmarkTopic [] = "landmark"
constexpr char	kLaserScanTopic [] = "scan"
constexpr int	kLatestOnlyPublisherQueueSize = 1
constexpr char	kMultiEchoLaserScanTopic [] = "echoes"
constexpr char	kNavSatFixTopic [] = "fix"
constexpr char	kOccupancyGridTopic [] = "map"
constexpr char	kOdometryTopic [] = "odom"
constexpr char	kPointCloud2Topic [] = "points2"
constexpr char	kScanMatchedPointCloudTopic [] = "scan_matched_points2"
constexpr int	kSingleThreaded = 1
constexpr char	kStartTrajectoryServiceName [] = "start_trajectory"
constexpr char	kSubmapListTopic [] = "submap_list"
constexpr char	kSubmapQueryServiceName [] = "submap_query"
constexpr char	kTfStaticTopic [] = "/tf_static"
constexpr char	kTfTopic [] = "tf"
constexpr char	kTrajectoryNodeListTopic [] = "trajectory_node_list"
constexpr char	kWriteStateServiceName [] = "write_state"

Typedef Documentation

MapBuilderFactory

using cartographer_ros::MapBuilderFactory = typedef std::function<std::unique_ptr<::cartographer::mapping::MapBuilderInterface>( const ::cartographer::mapping::proto::MapBuilderOptions&)>

Definition at line 32 of file offline_node.h.

Function Documentation

ComputeLocalFrameFromLatLong()

cartographer::transform::Rigid3d cartographer_ros::ComputeLocalFrameFromLatLong	(	const double	latitude,
		const double	longitude
	)

Definition at line 292 of file msg_conversion.cc.

ComputeRepeatedTopicNames()

std::vector< std::string > cartographer_ros::ComputeRepeatedTopicNames	(	const std::string &	topic,
		const int	num_topics
	)

Definition at line 23 of file node_constants.cc.

CreateInitialTrajectoryPose()

cartographer::mapping::proto::InitialTrajectoryPose cartographer_ros::CreateInitialTrajectoryPose

(

::cartographer::common::LuaParameterDictionary *

lua_parameter_dictionary

)

Definition at line 93 of file trajectory_options.cc.

CreateNodeOptions()

NodeOptions cartographer_ros::CreateNodeOptions

(

::cartographer::common::LuaParameterDictionary *const

lua_parameter_dictionary

)

Definition at line 27 of file node_options.cc.

CreateOccupancyGridMsg()

std::unique_ptr< nav_msgs::OccupancyGrid > cartographer_ros::CreateOccupancyGridMsg	(	const cartographer::io::PaintSubmapSlicesResult &	painted_slices,
		const double	resolution,
		const std::string &	frame_id,
		const ros::Time &	time
	)

Definition at line 303 of file msg_conversion.cc.

CreateTrajectoryOptions() [1/2]

TrajectoryOptions cartographer_ros::CreateTrajectoryOptions

(

::cartographer::common::LuaParameterDictionary *const

lua_parameter_dictionary

)

Definition at line 41 of file trajectory_options.cc.

CreateTrajectoryOptions() [2/2]

TrajectoryOptions cartographer_ros::CreateTrajectoryOptions	(	::cartographer::common::LuaParameterDictionary *	lua_parameter_dictionary,
		::cartographer::common::LuaParameterDictionary *	initial_trajectory_pose
	)

Definition at line 83 of file trajectory_options.cc.

FetchSubmapTextures()

std::unique_ptr<::cartographer::io::SubmapTextures > cartographer_ros::FetchSubmapTextures	(	const ::cartographer::mapping::SubmapId &	submap_id,
		ros::ServiceClient *	client
	)

Definition at line 28 of file submap.cc.

FromRos()

cartographer::common::Time cartographer_ros::FromRos

(

const ::ros::Time &

time

)

Definition at line 37 of file time_conversion.cc.

FromRosMessage()

bool cartographer_ros::FromRosMessage	(	const cartographer_ros_msgs::TrajectoryOptions &	msg,
		TrajectoryOptions *	options
	)

Definition at line 108 of file trajectory_options.cc.

LatLongAltToEcef()

Eigen::Vector3d cartographer_ros::LatLongAltToEcef	(	const double	latitude,
		const double	longitude,
		const double	altitude
	)

Definition at line 271 of file msg_conversion.cc.

LoadOptions()

std::tuple< NodeOptions, TrajectoryOptions > cartographer_ros::LoadOptions	(	const std::string &	configuration_directory,
		const std::string &	configuration_basename
	)

Definition at line 46 of file node_options.cc.

ReadStaticTransformsFromUrdf()

std::vector< geometry_msgs::TransformStamped > cartographer_ros::ReadStaticTransformsFromUrdf	(	const std::string &	urdf_filename,
		tf2_ros::Buffer *const	tf_buffer
	)

Definition at line 27 of file urdf_reader.cc.

RunOfflineNode()

void cartographer_ros::RunOfflineNode

(

const MapBuilderFactory &

map_builder_factory

)

Definition at line 79 of file offline_node.cc.

SplitString()

std::vector< std::string > cartographer_ros::SplitString	(	const std::string &	input,
		const char	delimiter
	)

Definition at line 23 of file split_string.cc.

ToEigen() [1/2]

Eigen::Vector3d cartographer_ros::ToEigen

(

const geometry_msgs::Vector3 &

vector3

)

Definition at line 232 of file msg_conversion.cc.

ToEigen() [2/2]

Eigen::Quaterniond cartographer_ros::ToEigen

(

const geometry_msgs::Quaternion &

quaternion

)

Definition at line 236 of file msg_conversion.cc.

ToGeometryMsgPoint()

geometry_msgs::Point cartographer_ros::ToGeometryMsgPoint

(

const Eigen::Vector3d &

vector3d

)

Definition at line 263 of file msg_conversion.cc.

ToGeometryMsgPose() [1/2]

geometry_msgs::Pose cartographer_ros::ToGeometryMsgPose

(

const ::cartographer::transform::Rigid3d &

rigid3d

)

ToGeometryMsgPose() [2/2]

geometry_msgs::Pose cartographer_ros::ToGeometryMsgPose

(

const Rigid3d &

rigid3d

)

Definition at line 253 of file msg_conversion.cc.

ToGeometryMsgTransform() [1/2]

geometry_msgs::Transform cartographer_ros::ToGeometryMsgTransform

(

const ::cartographer::transform::Rigid3d &

rigid3d

)

ToGeometryMsgTransform() [2/2]

geometry_msgs::Transform cartographer_ros::ToGeometryMsgTransform

(

const Rigid3d &

rigid3d

)

Definition at line 241 of file msg_conversion.cc.

ToLandmarkData() [1/2]

::cartographer::sensor::LandmarkData cartographer_ros::ToLandmarkData

(

const cartographer_ros_msgs::LandmarkList &

landmark_list

)

ToLandmarkData() [2/2]

LandmarkData cartographer_ros::ToLandmarkData

(

const LandmarkList &

landmark_list

)

Definition at line 211 of file msg_conversion.cc.

ToPointCloud2Message()

sensor_msgs::PointCloud2 cartographer_ros::ToPointCloud2Message	(	const int64_t	timestamp,
		const std::string &	frame_id,
		const ::cartographer::sensor::TimedPointCloud &	point_cloud
	)

Definition at line 158 of file msg_conversion.cc.

ToPointCloudWithIntensities() [1/3]

std::tuple<::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time > cartographer_ros::ToPointCloudWithIntensities

(

const sensor_msgs::LaserScan &

msg

)

Definition at line 174 of file msg_conversion.cc.

ToPointCloudWithIntensities() [2/3]

std::tuple<::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time > cartographer_ros::ToPointCloudWithIntensities

(

const sensor_msgs::MultiEchoLaserScan &

msg

)

Definition at line 180 of file msg_conversion.cc.

ToPointCloudWithIntensities() [3/3]

std::tuple<::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time > cartographer_ros::ToPointCloudWithIntensities

(

const sensor_msgs::PointCloud2 &

message

)

Definition at line 186 of file msg_conversion.cc.

ToRigid3d() [1/2]

cartographer::transform::Rigid3d cartographer_ros::ToRigid3d

(

const geometry_msgs::TransformStamped &

transform

)

Definition at line 222 of file msg_conversion.cc.

ToRigid3d() [2/2]

cartographer::transform::Rigid3d cartographer_ros::ToRigid3d

(

const geometry_msgs::Pose &

pose

)

Definition at line 227 of file msg_conversion.cc.

ToRos()

ros::Time cartographer_ros::ToRos

(

::cartographer::common::Time

time

)

Definition at line 24 of file time_conversion.cc.

ToRosMessage()

cartographer_ros_msgs::TrajectoryOptions cartographer_ros::ToRosMessage

(

const TrajectoryOptions &

options

)

Definition at line 138 of file trajectory_options.cc.

WritePgm()

void cartographer_ros::WritePgm	(	const ::cartographer::io::Image &	image,
		const double	resolution,
		::cartographer::io::FileWriter *	file_writer
	)

Definition at line 21 of file ros_map.cc.

WriteYaml()

void cartographer_ros::WriteYaml	(	const double	resolution,
		const Eigen::Vector2d &	origin,
		const std::string &	pgm_filename,
		::cartographer::io::FileWriter *	file_writer
	)

Definition at line 36 of file ros_map.cc.

Variable Documentation

kClockPublishFrequencySec

constexpr double cartographer_ros::kClockPublishFrequencySec = 1. / 30.

Definition at line 72 of file offline_node.cc.

kClockTopic

constexpr char cartographer_ros::kClockTopic[] = "clock"

Definition at line 69 of file offline_node.cc.

kConstraintListTopic

constexpr char cartographer_ros::kConstraintListTopic[] = "constraint_list"

Definition at line 42 of file node_constants.h.

kConstraintPublishPeriodSec

constexpr double cartographer_ros::kConstraintPublishPeriodSec = 0.5

Definition at line 43 of file node_constants.h.

kDelay

const ::ros::Duration cartographer_ros::kDelay = ::ros::Duration(1.0)

Definition at line 77 of file offline_node.cc.

kFinishTrajectoryServiceName

constexpr char cartographer_ros::kFinishTrajectoryServiceName[] = "finish_trajectory"

Definition at line 33 of file node_constants.h.

kImuTopic

constexpr char cartographer_ros::kImuTopic[] = "imu"

Definition at line 29 of file node_constants.h.

kInfiniteSubscriberQueueSize

constexpr int cartographer_ros::kInfiniteSubscriberQueueSize = 0

Definition at line 45 of file node_constants.h.

kLandmarkPosesListTopic

constexpr char cartographer_ros::kLandmarkPosesListTopic[] = "landmark_poses_list"

Definition at line 41 of file node_constants.h.

kLandmarkTopic

constexpr char cartographer_ros::kLandmarkTopic[] = "landmark"

Definition at line 32 of file node_constants.h.

kLaserScanTopic

constexpr char cartographer_ros::kLaserScanTopic[] = "scan"

Definition at line 26 of file node_constants.h.

kLatestOnlyPublisherQueueSize

constexpr int cartographer_ros::kLatestOnlyPublisherQueueSize = 1

Definition at line 46 of file node_constants.h.

kMultiEchoLaserScanTopic

constexpr char cartographer_ros::kMultiEchoLaserScanTopic[] = "echoes"

Definition at line 27 of file node_constants.h.

kNavSatFixTopic

constexpr char cartographer_ros::kNavSatFixTopic[] = "fix"

Definition at line 31 of file node_constants.h.

kOccupancyGridTopic

constexpr char cartographer_ros::kOccupancyGridTopic[] = "map"

Definition at line 34 of file node_constants.h.

kOdometryTopic

constexpr char cartographer_ros::kOdometryTopic[] = "odom"

Definition at line 30 of file node_constants.h.

kPointCloud2Topic

constexpr char cartographer_ros::kPointCloud2Topic[] = "points2"

Definition at line 28 of file node_constants.h.

kScanMatchedPointCloudTopic

constexpr char cartographer_ros::kScanMatchedPointCloudTopic[] = "scan_matched_points2"

Definition at line 35 of file node_constants.h.

kSingleThreaded

constexpr int cartographer_ros::kSingleThreaded = 1

Definition at line 73 of file offline_node.cc.

kStartTrajectoryServiceName

constexpr char cartographer_ros::kStartTrajectoryServiceName[] = "start_trajectory"

Definition at line 38 of file node_constants.h.

kSubmapListTopic

constexpr char cartographer_ros::kSubmapListTopic[] = "submap_list"

Definition at line 36 of file node_constants.h.

kSubmapQueryServiceName

constexpr char cartographer_ros::kSubmapQueryServiceName[] = "submap_query"

Definition at line 37 of file node_constants.h.

kTfStaticTopic

constexpr char cartographer_ros::kTfStaticTopic[] = "/tf_static"

Definition at line 70 of file offline_node.cc.

kTfTopic

constexpr char cartographer_ros::kTfTopic[] = "tf"

Definition at line 71 of file offline_node.cc.

kTrajectoryNodeListTopic

constexpr char cartographer_ros::kTrajectoryNodeListTopic[] = "trajectory_node_list"

Definition at line 40 of file node_constants.h.

kWriteStateServiceName

constexpr char cartographer_ros::kWriteStateServiceName[] = "write_state"

Definition at line 39 of file node_constants.h.