ROS node class. More...

#include <map_merge_node.h>

Classes
struct	MapSubscription

Public Member Functions
void	discovery ()
	Initiates discovery of new robots (maps) under current ROS core. More...

std::vector< PointCloudConstPtr >	getMaps ()
	Get currently stored maps. More...

std::vector< Eigen::Matrix4f >	getTransforms ()
	Get currently stored transforms. For each map there should be a transform between map and global reference frame. More...

void	mapCompositing ()
	Composes and publishes the global map based on estimated transformations. More...

	MapMerge3d ()

void	transformsEstimation ()
	Estimates transformations between maps. More...

Private Member Functions
bool	isRobotMapTopic (const ros::master::TopicInfo &topic)

void	mapUpdate (const PointCloud::ConstPtr &msg, MapSubscription &subscription)

void	publishTF ()

std::string	robotNameFromTopic (const std::string &topic)

Private Attributes
double	compositing_rate_

ros::Timer	compositing_timer_

double	discovery_rate_

ros::Timer	discovery_timer_

double	estimation_rate_

ros::Timer	estimation_timer_

MapMergingParams	map_merge_params_

ros::Publisher	merged_map_publisher_

ros::NodeHandle	node_

std::string	robot_map_topic_

std::string	robot_namespace_

std::unordered_map< std::string, MapSubscription * >	robots_

std::forward_list< MapSubscription >	subscriptions_

std::mutex	subscriptions_mutex_

size_t	subscriptions_size_

std::atomic_flag	tf_current_flag_

tf2_ros::TransformBroadcaster	tf_publisher_

std::thread	tf_thread_

std::vector< geometry_msgs::TransformStamped >	tf_transforms_

std::vector< Eigen::Matrix4f >	transforms_

std::mutex	transforms_mutex_

std::string	world_frame_

Detailed Description

ROS node class.

Runs robot discovery, transforms estimation and map compositing at predefined rates (from ROS parameters). Does not spin on its own.

Definition at line 32 of file map_merge_node.h.

Constructor & Destructor Documentation

◆ MapMerge3d()

map_merge_3d::MapMerge3d::MapMerge3d ( )

Member Function Documentation

◆ discovery()

void map_merge_3d::MapMerge3d::discovery ( )

Initiates discovery of new robots (maps) under current ROS core.

When new maps topics are found, there are added for merging. This function is thread-safe

◆ getMaps()

std::vector<PointCloudConstPtr> map_merge_3d::MapMerge3d::getMaps ( )

Get currently stored maps.

This function is thread-safe

Returns: all currently received maps

◆ getTransforms()

std::vector<Eigen::Matrix4f> map_merge_3d::MapMerge3d::getTransforms ( )

Get currently stored transforms. For each map there should be a transform between map and global reference frame.

This function is thread-safe

Returns: all currently estimated transforms. Zero Matrix if transform could not be estimated.

◆ isRobotMapTopic()

bool map_merge_3d::MapMerge3d::isRobotMapTopic ( const ros::master::TopicInfo & topic )

private

◆ mapCompositing()

void map_merge_3d::MapMerge3d::mapCompositing ( )

Composes and publishes the global map based on estimated transformations.

This function is thread-safe

◆ mapUpdate()

void map_merge_3d::MapMerge3d::mapUpdate	(	const PointCloud::ConstPtr &	msg,
		MapSubscription &	subscription
	)

private

◆ publishTF()

void map_merge_3d::MapMerge3d::publishTF ( )

private

◆ robotNameFromTopic()

std::string map_merge_3d::MapMerge3d::robotNameFromTopic ( const std::string & topic )

private

◆ transformsEstimation()

void map_merge_3d::MapMerge3d::transformsEstimation ( )

Estimates transformations between maps.

This function is thread-safe

Member Data Documentation

◆ compositing_rate_

double map_merge_3d::MapMerge3d::compositing_rate_

private

Definition at line 45 of file map_merge_node.h.

◆ compositing_timer_

ros::Timer map_merge_3d::MapMerge3d::compositing_timer_

private

Definition at line 57 of file map_merge_node.h.

◆ discovery_rate_

double map_merge_3d::MapMerge3d::discovery_rate_

private

Definition at line 46 of file map_merge_node.h.

◆ discovery_timer_

ros::Timer map_merge_3d::MapMerge3d::discovery_timer_

private

Definition at line 58 of file map_merge_node.h.

◆ estimation_rate_

double map_merge_3d::MapMerge3d::estimation_rate_

private

Definition at line 47 of file map_merge_node.h.

◆ estimation_timer_

ros::Timer map_merge_3d::MapMerge3d::estimation_timer_

private

Definition at line 59 of file map_merge_node.h.

◆ map_merge_params_

MapMergingParams map_merge_3d::MapMerge3d::map_merge_params_

private

Definition at line 52 of file map_merge_node.h.

◆ merged_map_publisher_

ros::Publisher map_merge_3d::MapMerge3d::merged_map_publisher_

private

Definition at line 55 of file map_merge_node.h.

◆ node_

ros::NodeHandle map_merge_3d::MapMerge3d::node_

private

Definition at line 42 of file map_merge_node.h.

◆ robot_map_topic_

std::string map_merge_3d::MapMerge3d::robot_map_topic_

private

Definition at line 48 of file map_merge_node.h.

◆ robot_namespace_

std::string map_merge_3d::MapMerge3d::robot_namespace_

private

Definition at line 49 of file map_merge_node.h.

◆ robots_

std::unordered_map<std::string, MapSubscription*> map_merge_3d::MapMerge3d::robots_

private

Definition at line 68 of file map_merge_node.h.

◆ subscriptions_

std::forward_list<MapSubscription> map_merge_3d::MapMerge3d::subscriptions_

private

Definition at line 70 of file map_merge_node.h.

◆ subscriptions_mutex_

std::mutex map_merge_3d::MapMerge3d::subscriptions_mutex_

private

Definition at line 72 of file map_merge_node.h.

◆ subscriptions_size_

size_t map_merge_3d::MapMerge3d::subscriptions_size_

private

Definition at line 71 of file map_merge_node.h.

◆ tf_current_flag_

std::atomic_flag map_merge_3d::MapMerge3d::tf_current_flag_

private

Definition at line 64 of file map_merge_node.h.

◆ tf_publisher_

tf2_ros::TransformBroadcaster map_merge_3d::MapMerge3d::tf_publisher_

private

Definition at line 62 of file map_merge_node.h.

◆ tf_thread_

std::thread map_merge_3d::MapMerge3d::tf_thread_

private

Definition at line 63 of file map_merge_node.h.

◆ tf_transforms_

std::vector<geometry_msgs::TransformStamped> map_merge_3d::MapMerge3d::tf_transforms_

private

Definition at line 61 of file map_merge_node.h.

◆ transforms_

std::vector<Eigen::Matrix4f> map_merge_3d::MapMerge3d::transforms_

private

Definition at line 74 of file map_merge_node.h.

◆ transforms_mutex_

std::mutex map_merge_3d::MapMerge3d::transforms_mutex_

private

Definition at line 75 of file map_merge_node.h.

◆ world_frame_

std::string map_merge_3d::MapMerge3d::world_frame_

private

Definition at line 50 of file map_merge_node.h.

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

map_merge_node.h

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MapMerge3d()

Member Function Documentation

◆ discovery()

◆ getMaps()

◆ getTransforms()

◆ isRobotMapTopic()

◆ mapCompositing()

◆ mapUpdate()

◆ publishTF()

◆ robotNameFromTopic()

◆ transformsEstimation()

Member Data Documentation

◆ compositing_rate_

◆ compositing_timer_

◆ discovery_rate_

◆ discovery_timer_

◆ estimation_rate_

◆ estimation_timer_

◆ map_merge_params_

◆ merged_map_publisher_

◆ node_

◆ robot_map_topic_

◆ robot_namespace_

◆ robots_

◆ subscriptions_

◆ subscriptions_mutex_

◆ subscriptions_size_

◆ tf_current_flag_

◆ tf_publisher_

◆ tf_thread_

◆ tf_transforms_

◆ transforms_

◆ transforms_mutex_

◆ world_frame_