rtabmap_ros::CoreWrapper Class Reference

#include <CoreWrapper.h>

Inheritance diagram for rtabmap_ros::CoreWrapper:

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	isSubscribedToOdom () const
bool	isSubscribedToOdomInfo () const
bool	isSubscribedToRGB () const
bool	isSubscribedToRGBD () const
bool	isSubscribedToScan2d () const
bool	isSubscribedToScan3d () const
bool	isSubscribedToStereo () const
const std::string &	name () 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 Types
typedef message_filters::sync_policies::ExactTime< nav_msgs::Odometry, rtabmap_ros::OdomInfo >	MyExactInterOdomSyncPolicy

Private Member Functions
bool	addLinkCallback (rtabmap_ros::AddLink::Request &, rtabmap_ros::AddLink::Response &)
bool	backupDatabaseCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	cancelGoalCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	cleanupLocalGridsCallback (rtabmap_ros::CleanupLocalGrids::Request &, rtabmap_ros::CleanupLocalGrids::Response &)
virtual void	commonLaserScanCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const rtabmap_ros::GlobalDescriptor &globalDescriptor=rtabmap_ros::GlobalDescriptor())
virtual void	commonMultiCameraCallback (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 std::vector< sensor_msgs::CameraInfo > &depthCameraInfoMsgs, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< std::vector< rtabmap_ros::KeyPoint > > &localKeyPoints=std::vector< std::vector< rtabmap_ros::KeyPoint > >(), const std::vector< std::vector< rtabmap_ros::Point3f > > &localPoints3d=std::vector< std::vector< rtabmap_ros::Point3f > >(), const std::vector< cv::Mat > &localDescriptors=std::vector< cv::Mat >())
void	commonMultiCameraCallbackImpl (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 std::vector< sensor_msgs::CameraInfo > &depthCameraInfoMsgs, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs, const std::vector< std::vector< rtabmap_ros::KeyPoint > > &localKeyPoints, const std::vector< std::vector< rtabmap_ros::Point3f > > &localPoints3d, const std::vector< cv::Mat > &localDescriptors)
virtual void	commonOdomCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
void	defaultCallback (const sensor_msgs::ImageConstPtr &imageMsg)
bool	detectMoreLoopClosuresCallback (rtabmap_ros::DetectMoreLoopClosures::Request &, rtabmap_ros::DetectMoreLoopClosures::Response &)
std::map< int, rtabmap::Transform >	filterNodesToAssemble (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &currentPose)
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	getMapData2Callback (rtabmap_ros::GetMap2::Request &req, rtabmap_ros::GetMap2::Response &res)
bool	getMapDataCallback (rtabmap_ros::GetMap::Request &req, rtabmap_ros::GetMap::Response &res)
bool	getNodeDataCallback (rtabmap_ros::GetNodeData::Request &req, rtabmap_ros::GetNodeData::Response &res)
bool	getNodesInRadiusCallback (rtabmap_ros::GetNodesInRadius::Request &, rtabmap_ros::GetNodesInRadius::Response &)
bool	getPlanCallback (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)
bool	getPlanNodesCallback (rtabmap_ros::GetPlan::Request &req, rtabmap_ros::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)
bool	globalBundleAdjustmentCallback (rtabmap_ros::GlobalBundleAdjustment::Request &, rtabmap_ros::GlobalBundleAdjustment::Response &)
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 std::string &frameId, 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	gpsFixAsyncCallback (const sensor_msgs::NavSatFixConstPtr &gpsFixMsg)
void	imuAsyncCallback (const sensor_msgs::ImuConstPtr &tagDetections)
void	initialPoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
void	interOdomCallback (const nav_msgs::OdometryConstPtr &msg)
void	interOdomInfoCallback (const nav_msgs::OdometryConstPtr &msg1, const rtabmap_ros::OdomInfoConstPtr &msg2)
bool	listLabelsCallback (rtabmap_ros::ListLabels::Request &req, rtabmap_ros::ListLabels::Response &res)
bool	loadDatabaseCallback (rtabmap_ros::LoadDatabase::Request &, rtabmap_ros::LoadDatabase::Response &)
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, rtabmap::SensorData &data, const rtabmap::Transform &odom=rtabmap::Transform(), const std::vector< float > &odomVelocity=std::vector< float >(), const std::string &odomFrameId="", const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const rtabmap::OdometryInfo &odomInfo=rtabmap::OdometryInfo(), double timeMsgConversion=0.0)
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	removeLabelCallback (rtabmap_ros::RemoveLabel::Request &req, rtabmap_ros::RemoveLabel::Response &res)
void	republishMaps ()
void	republishNodeDataCallback (const std_msgs::Int32MultiArray::ConstPtr &msg)
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	addLinkSrv_
bool	alreadyRectifiedImages_
ros::ServiceServer	backupDatabase_
ros::ServiceServer	cancelGoalSrv_
ros::ServiceServer	cleanupLocalGridsSrv_
std::string	configPath_
cv::Mat	covariance_
bool	createIntermediateNodes_
rtabmap::Transform	currentMetricGoal_
std::string	databasePath_
image_transport::Subscriber	defaultSub_
ros::ServiceServer	detectMoreLoopClosuresSrv_
ros::Subscriber	fiducialTransfromsSub_
std::string	frameId_
bool	genDepth_
int	genDepthDecimation_
double	genDepthFillHolesError_
int	genDepthFillHolesSize_
int	genDepthFillIterations_
bool	genScan_
double	genScanMaxDepth_
double	genScanMinDepth_
ros::ServiceServer	getGridMapSrv_
ros::ServiceServer	getMapData2Srv_
ros::ServiceServer	getMapDataSrv_
ros::ServiceServer	getMapSrv_
ros::ServiceServer	getNodeDataSrv_
ros::ServiceServer	getNodesInRadiusSrv_
ros::ServiceServer	getPlanNodesSrv_
ros::ServiceServer	getPlanSrv_
ros::ServiceServer	getProbMapSrv_
ros::ServiceServer	getProjMapSrv_
ros::ServiceServer	globalBundleAdjustmentSrv_
ros::Publisher	globalPathNodesPub_
ros::Publisher	globalPathPub_
geometry_msgs::PoseWithCovarianceStamped	globalPose_
ros::Subscriber	globalPoseAsyncSub_
std::string	goalFrameId_
ros::Subscriber	goalNodeSub_
ros::Publisher	goalReachedPub_
ros::Subscriber	goalSub_
rtabmap::GPS	gps_
ros::Subscriber	gpsFixAsyncSub_
std::string	groundTruthBaseFrameId_
std::string	groundTruthFrameId_
std::string	imuFrameId_
std::map< double, rtabmap::Transform >	imus_
ros::Subscriber	imuSub_
ros::Publisher	infoPub_
ros::Subscriber	initialPoseSub_
message_filters::Subscriber< rtabmap_ros::OdomInfo >	interOdomInfoSyncSub_
std::list< std::pair< nav_msgs::Odometry, rtabmap_ros::OdomInfo > >	interOdoms_
ros::Subscriber	interOdomSub_
message_filters::Synchronizer< MyExactInterOdomSyncPolicy > *	interOdomSync_
message_filters::Subscriber< nav_msgs::Odometry >	interOdomSyncSub_
ros::Publisher	labelsPub_
double	landmarkDefaultAngVariance_
double	landmarkDefaultLinVariance_
ros::Publisher	landmarksPub_
rtabmap::Transform	lastPose_
bool	lastPoseIntermediate_
ros::Time	lastPoseStamp_
std::vector< float >	lastPoseVelocity_
rtabmap::Transform	lastPublishedMetricGoal_
bool	latestNodeWasReached_
ros::ServiceServer	listLabelsSrv_
ros::ServiceServer	loadDatabaseSrv_
ros::Publisher	localGridEmpty_
ros::Publisher	localGridGround_
ros::Publisher	localGridObstacle_
ros::Publisher	localizationPosePub_
ros::Publisher	localPathNodesPub_
ros::Publisher	localPathPub_
ros::Publisher	mapDataPub_
std::string	mapFrameId_
ros::Publisher	mapGraphPub_
ros::Publisher	mapPathPub_
double	mappingAltitudeDelta_
int	mappingMaxNodes_
MapsManager	mapsManager_
rtabmap::Transform	mapToOdom_
boost::mutex	mapToOdomMutex_
MoveBaseClient *	mbClient_
ros::Publisher	nextMetricGoalPub_
ros::Publisher	odomCachePub_
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	removeLabelSrv_
ros::Subscriber	republishNodeDataSub_
ros::ServiceServer	resetSrv_
ros::ServiceServer	resumeSrv_
rtabmap::Rtabmap	rtabmap_
std::map< std::string, float >	rtabmapROSStats_
bool	scanCloudIs2d_
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_
ros::Subscriber	tagDetectionsSub_
std::map< int, std::pair< geometry_msgs::PoseWithCovarianceStamped, float > >	tags_
tf2_ros::TransformBroadcaster	tfBroadcaster_
tf::TransformListener	tfListener_
bool	tfThreadRunning_
boost::thread *	transformThread_
ros::ServiceServer	triggerNewMapSrv_
bool	twoDMapping_
ULogToRosout	ulogToRosout_
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	commonSingleCameraCallback (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::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_ros::GlobalDescriptor >(), const std::vector< rtabmap_ros::KeyPoint > &localKeyPoints=std::vector< rtabmap_ros::KeyPoint >(), const std::vector< rtabmap_ros::Point3f > &localPoints3d=std::vector< rtabmap_ros::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())
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 103 of file CoreWrapper.h.

Member Typedef Documentation

MyExactInterOdomSyncPolicy

typedef message_filters::sync_policies::ExactTime<nav_msgs::Odometry, rtabmap_ros::OdomInfo> rtabmap_ros::CoreWrapper::MyExactInterOdomSyncPolicy

private

Definition at line 387 of file CoreWrapper.h.

Constructor & Destructor Documentation

CoreWrapper()

rtabmap_ros::CoreWrapper::CoreWrapper

(

)

Definition at line 86 of file CoreWrapper.cpp.

~CoreWrapper()

rtabmap_ros::CoreWrapper::~CoreWrapper ( )

virtual

Definition at line 853 of file CoreWrapper.cpp.

Member Function Documentation

addLinkCallback()

bool rtabmap_ros::CoreWrapper::addLinkCallback ( rtabmap_ros::AddLink::Request &  req, rtabmap_ros::AddLink::Response &    )

private

Definition at line 3925 of file CoreWrapper.cpp.

backupDatabaseCallback()

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

private

Definition at line 2914 of file CoreWrapper.cpp.

cancelGoalCallback()

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

private

Definition at line 3840 of file CoreWrapper.cpp.

cleanupLocalGridsCallback()

bool rtabmap_ros::CoreWrapper::cleanupLocalGridsCallback ( rtabmap_ros::CleanupLocalGrids::Request &  req, rtabmap_ros::CleanupLocalGrids::Response &  res  )

private

Definition at line 3061 of file CoreWrapper.cpp.

commonLaserScanCallback()

void rtabmap_ros::CoreWrapper::commonLaserScanCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_ros::UserDataConstPtr &  userDataMsg, const sensor_msgs::LaserScan &  scanMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg, const rtabmap_ros::GlobalDescriptor &  globalDescriptor = rtabmap_ros::GlobalDescriptor()  )

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 1547 of file CoreWrapper.cpp.

commonMultiCameraCallback()

void rtabmap_ros::CoreWrapper::commonMultiCameraCallback ( 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 std::vector< sensor_msgs::CameraInfo > &  depthCameraInfoMsgs, const sensor_msgs::LaserScan &  scanMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &  globalDescriptorMsgs = std::vector<rtabmap_ros::GlobalDescriptor>(), const std::vector< std::vector< rtabmap_ros::KeyPoint > > &  localKeyPoints = std::vector<std::vector<rtabmap_ros::KeyPoint> >(), const std::vector< std::vector< rtabmap_ros::Point3f > > &  localPoints3d = std::vector<std::vector<rtabmap_ros::Point3f> >(), const std::vector< cv::Mat > &  localDescriptors = std::vector<cv::Mat>()  )

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 1175 of file CoreWrapper.cpp.

commonMultiCameraCallbackImpl()

void rtabmap_ros::CoreWrapper::commonMultiCameraCallbackImpl ( 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 std::vector< sensor_msgs::CameraInfo > &  depthCameraInfoMsgs, const sensor_msgs::LaserScan &  scan2dMsg, const sensor_msgs::PointCloud2 &  scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg, const std::vector< rtabmap_ros::GlobalDescriptor > &  globalDescriptorMsgs, const std::vector< std::vector< rtabmap_ros::KeyPoint > > &  localKeyPoints, const std::vector< std::vector< rtabmap_ros::Point3f > > &  localPoints3d, const std::vector< cv::Mat > &  localDescriptors  )

private

Definition at line 1247 of file CoreWrapper.cpp.

commonOdomCallback()

void rtabmap_ros::CoreWrapper::commonOdomCallback ( const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_ros::UserDataConstPtr &  userDataMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg  )

privatevirtual

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 1685 of file CoreWrapper.cpp.

defaultCallback()

void rtabmap_ros::CoreWrapper::defaultCallback ( const sensor_msgs::ImageConstPtr &  imageMsg )

private

Definition at line 938 of file CoreWrapper.cpp.

detectMoreLoopClosuresCallback()

bool rtabmap_ros::CoreWrapper::detectMoreLoopClosuresCallback ( rtabmap_ros::DetectMoreLoopClosures::Request &  req, rtabmap_ros::DetectMoreLoopClosures::Response &  res  )

private

Definition at line 2993 of file CoreWrapper.cpp.

filterNodesToAssemble()

std::map< int, Transform > rtabmap_ros::CoreWrapper::filterNodesToAssemble ( const std::map< int, rtabmap::Transform > &  nodes, const rtabmap::Transform &  currentPose  )

private

Definition at line 2236 of file CoreWrapper.cpp.

getGridMapCallback()

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

private

Definition at line 3326 of file CoreWrapper.cpp.

getMapCallback()

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

private

Definition at line 3332 of file CoreWrapper.cpp.

getMapData2Callback()

bool rtabmap_ros::CoreWrapper::getMapData2Callback ( rtabmap_ros::GetMap2::Request &  req, rtabmap_ros::GetMap2::Response &  res  )

private

Definition at line 3269 of file CoreWrapper.cpp.

getMapDataCallback()

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

private

Definition at line 3235 of file CoreWrapper.cpp.

getNodeDataCallback()

bool rtabmap_ros::CoreWrapper::getNodeDataCallback ( rtabmap_ros::GetNodeData::Request &  req, rtabmap_ros::GetNodeData::Response &  res  )

private

Definition at line 3206 of file CoreWrapper.cpp.

getNodesInRadiusCallback()

bool rtabmap_ros::CoreWrapper::getNodesInRadiusCallback ( rtabmap_ros::GetNodesInRadius::Request &  req, rtabmap_ros::GetNodesInRadius::Response &  res  )

private

Definition at line 3936 of file CoreWrapper.cpp.

getPlanCallback()

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

private

Definition at line 3661 of file CoreWrapper.cpp.

getPlanNodesCallback()

bool rtabmap_ros::CoreWrapper::getPlanNodesCallback ( rtabmap_ros::GetPlan::Request &  req, rtabmap_ros::GetPlan::Response &  res  )

private

Definition at line 3735 of file CoreWrapper.cpp.

getProbMapCallback()

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

private

Definition at line 3373 of file CoreWrapper.cpp.

getProjMapCallback()

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

private

Definition at line 3308 of file CoreWrapper.cpp.

globalBundleAdjustmentCallback()

bool rtabmap_ros::CoreWrapper::globalBundleAdjustmentCallback ( rtabmap_ros::GlobalBundleAdjustment::Request &  req, rtabmap_ros::GlobalBundleAdjustment::Response &  res  )

private

Definition at line 3111 of file CoreWrapper.cpp.

globalPoseAsyncCallback()

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

private

Definition at line 2285 of file CoreWrapper.cpp.

goalActiveCb()

void rtabmap_ros::CoreWrapper::goalActiveCb ( )

private

Definition at line 4324 of file CoreWrapper.cpp.

goalCallback()

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

private

Definition at line 2603 of file CoreWrapper.cpp.

goalCommonCallback()

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

private

Definition at line 2456 of file CoreWrapper.cpp.

goalDoneCb()

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

private

Definition at line 4278 of file CoreWrapper.cpp.

goalFeedbackCb()

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

private

Definition at line 4330 of file CoreWrapper.cpp.

goalNodeCallback()

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

private

Definition at line 2630 of file CoreWrapper.cpp.

gpsFixAsyncCallback()

void rtabmap_ros::CoreWrapper::gpsFixAsyncCallback ( const sensor_msgs::NavSatFixConstPtr &  gpsFixMsg )

private

Definition at line 2293 of file CoreWrapper.cpp.

imuAsyncCallback()

void rtabmap_ros::CoreWrapper::imuAsyncCallback ( const sensor_msgs::ImuConstPtr &  tagDetections )

private

Definition at line 2387 of file CoreWrapper.cpp.

initialPoseCallback()

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

private

Definition at line 2444 of file CoreWrapper.cpp.

interOdomCallback()

void rtabmap_ros::CoreWrapper::interOdomCallback ( const nav_msgs::OdometryConstPtr &  msg )

private

Definition at line 2427 of file CoreWrapper.cpp.

interOdomInfoCallback()

void rtabmap_ros::CoreWrapper::interOdomInfoCallback ( const nav_msgs::OdometryConstPtr &  msg1, const rtabmap_ros::OdomInfoConstPtr &  msg2  )

private

Definition at line 2435 of file CoreWrapper.cpp.

listLabelsCallback()

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

private

Definition at line 3892 of file CoreWrapper.cpp.

loadDatabaseCallback()

bool rtabmap_ros::CoreWrapper::loadDatabaseCallback ( rtabmap_ros::LoadDatabase::Request &  req, rtabmap_ros::LoadDatabase::Response &    )

private

Definition at line 2774 of file CoreWrapper.cpp.

loadParameters()

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

private

Definition at line 884 of file CoreWrapper.cpp.

odomTFUpdate()

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

private

Definition at line 1118 of file CoreWrapper.cpp.

odomUpdate()

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

private

Definition at line 1007 of file CoreWrapper.cpp.

onInit()

void rtabmap_ros::CoreWrapper::onInit ( )

privatevirtual

Implements nodelet::Nodelet.

Definition at line 137 of file CoreWrapper.cpp.

pauseRtabmapCallback()

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

private

Definition at line 2742 of file CoreWrapper.cpp.

process()

void rtabmap_ros::CoreWrapper::process ( const ros::Time &  stamp, rtabmap::SensorData &  data, const rtabmap::Transform &  odom = rtabmap::Transform(), const std::vector< float > &  odomVelocity = std::vector<float>(), const std::string &  odomFrameId = "", const cv::Mat &  odomCovariance = cv::Mat::eye(6,6,CV_64FC1), const rtabmap::OdometryInfo &  odomInfo = rtabmap::OdometryInfo(), double  timeMsgConversion = 0.0  )

private

Definition at line 1744 of file CoreWrapper.cpp.

publishCurrentGoal()

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

private

Definition at line 4227 of file CoreWrapper.cpp.

publishGlobalPath()

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

private

Definition at line 4374 of file CoreWrapper.cpp.

publishLocalPath()

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

private

Definition at line 4336 of file CoreWrapper.cpp.

publishLoop()

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

private

Definition at line 915 of file CoreWrapper.cpp.

publishMapCallback()

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

private

Definition at line 3414 of file CoreWrapper.cpp.

publishStats()

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

private

Definition at line 3969 of file CoreWrapper.cpp.

removeLabelCallback()

bool rtabmap_ros::CoreWrapper::removeLabelCallback ( rtabmap_ros::RemoveLabel::Request &  req, rtabmap_ros::RemoveLabel::Response &  res  )

private

Definition at line 3904 of file CoreWrapper.cpp.

republishMaps()

void rtabmap_ros::CoreWrapper::republishMaps ( )

private

Definition at line 2956 of file CoreWrapper.cpp.

republishNodeDataCallback()

void rtabmap_ros::CoreWrapper::republishNodeDataCallback ( const std_msgs::Int32MultiArray::ConstPtr &  msg )

private

Definition at line 2422 of file CoreWrapper.cpp.

resetRtabmapCallback()

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

private

Definition at line 2712 of file CoreWrapper.cpp.

resumeRtabmapCallback()

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

private

Definition at line 2758 of file CoreWrapper.cpp.

saveParameters()

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

private

Definition at line 897 of file CoreWrapper.cpp.

setGoalCallback()

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

private

Definition at line 3824 of file CoreWrapper.cpp.

setLabelCallback()

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

private

Definition at line 3865 of file CoreWrapper.cpp.

setLogDebug()

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

private

Definition at line 3181 of file CoreWrapper.cpp.

setLogError()

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

private

Definition at line 3199 of file CoreWrapper.cpp.

setLogInfo()

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

private

Definition at line 3187 of file CoreWrapper.cpp.

setLogWarn()

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

private

Definition at line 3193 of file CoreWrapper.cpp.

setModeLocalizationCallback()

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

private

Definition at line 3157 of file CoreWrapper.cpp.

setModeMappingCallback()

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

private

Definition at line 3169 of file CoreWrapper.cpp.

triggerNewMapCallback()

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

private

Definition at line 2907 of file CoreWrapper.cpp.

updateGoal()

void rtabmap_ros::CoreWrapper::updateGoal ( const ros::Time &  stamp )

private

updateRtabmapCallback()

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

private

Definition at line 2646 of file CoreWrapper.cpp.

userDataAsyncCallback()

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

private

Definition at line 2266 of file CoreWrapper.cpp.

Member Data Documentation

addLinkSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::addLinkSrv_

private

Definition at line 352 of file CoreWrapper.h.

alreadyRectifiedImages_

bool rtabmap_ros::CoreWrapper::alreadyRectifiedImages_

private

Definition at line 396 of file CoreWrapper.h.

backupDatabase_

ros::ServiceServer rtabmap_ros::CoreWrapper::backupDatabase_

private

Definition at line 327 of file CoreWrapper.h.

cancelGoalSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::cancelGoalSrv_

private

Definition at line 348 of file CoreWrapper.h.

cleanupLocalGridsSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::cleanupLocalGridsSrv_

private

Definition at line 330 of file CoreWrapper.h.

configPath_

std::string rtabmap_ros::CoreWrapper::configPath_

private

Definition at line 268 of file CoreWrapper.h.

covariance_

cv::Mat rtabmap_ros::CoreWrapper::covariance_

private

Definition at line 256 of file CoreWrapper.h.

createIntermediateNodes_

bool rtabmap_ros::CoreWrapper::createIntermediateNodes_

private

Definition at line 393 of file CoreWrapper.h.

currentMetricGoal_

rtabmap::Transform rtabmap_ros::CoreWrapper::currentMetricGoal_

private

Definition at line 257 of file CoreWrapper.h.

databasePath_

std::string rtabmap_ros::CoreWrapper::databasePath_

private

Definition at line 269 of file CoreWrapper.h.

defaultSub_

image_transport::Subscriber rtabmap_ros::CoreWrapper::defaultSub_

private

Definition at line 365 of file CoreWrapper.h.

detectMoreLoopClosuresSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::detectMoreLoopClosuresSrv_

private

Definition at line 328 of file CoreWrapper.h.

fiducialTransfromsSub_

ros::Subscriber rtabmap_ros::CoreWrapper::fiducialTransfromsSub_

private

Definition at line 376 of file CoreWrapper.h.

frameId_

std::string rtabmap_ros::CoreWrapper::frameId_

private

Definition at line 263 of file CoreWrapper.h.

genDepth_

bool rtabmap_ros::CoreWrapper::genDepth_

private

Definition at line 281 of file CoreWrapper.h.

genDepthDecimation_

int rtabmap_ros::CoreWrapper::genDepthDecimation_

private

Definition at line 282 of file CoreWrapper.h.

genDepthFillHolesError_

double rtabmap_ros::CoreWrapper::genDepthFillHolesError_

private

Definition at line 285 of file CoreWrapper.h.

genDepthFillHolesSize_

int rtabmap_ros::CoreWrapper::genDepthFillHolesSize_

private

Definition at line 283 of file CoreWrapper.h.

genDepthFillIterations_

int rtabmap_ros::CoreWrapper::genDepthFillIterations_

private

Definition at line 284 of file CoreWrapper.h.

genScan_

bool rtabmap_ros::CoreWrapper::genScan_

private

Definition at line 278 of file CoreWrapper.h.

genScanMaxDepth_

double rtabmap_ros::CoreWrapper::genScanMaxDepth_

private

Definition at line 279 of file CoreWrapper.h.

genScanMinDepth_

double rtabmap_ros::CoreWrapper::genScanMinDepth_

private

Definition at line 280 of file CoreWrapper.h.

getGridMapSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getGridMapSrv_

private

Definition at line 343 of file CoreWrapper.h.

getMapData2Srv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getMapData2Srv_

private

Definition at line 339 of file CoreWrapper.h.

getMapDataSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getMapDataSrv_

private

Definition at line 338 of file CoreWrapper.h.

getMapSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getMapSrv_

private

Definition at line 341 of file CoreWrapper.h.

getNodeDataSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getNodeDataSrv_

private

Definition at line 337 of file CoreWrapper.h.

getNodesInRadiusSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getNodesInRadiusSrv_

private

Definition at line 353 of file CoreWrapper.h.

getPlanNodesSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getPlanNodesSrv_

private

Definition at line 346 of file CoreWrapper.h.

getPlanSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getPlanSrv_

private

Definition at line 345 of file CoreWrapper.h.

getProbMapSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getProbMapSrv_

private

Definition at line 342 of file CoreWrapper.h.

getProjMapSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::getProjMapSrv_

private

Definition at line 340 of file CoreWrapper.h.

globalBundleAdjustmentSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::globalBundleAdjustmentSrv_

private

Definition at line 329 of file CoreWrapper.h.

globalPathNodesPub_

ros::Publisher rtabmap_ros::CoreWrapper::globalPathNodesPub_

private

Definition at line 314 of file CoreWrapper.h.

globalPathPub_

ros::Publisher rtabmap_ros::CoreWrapper::globalPathPub_

private

Definition at line 312 of file CoreWrapper.h.

globalPose_

geometry_msgs::PoseWithCovarianceStamped rtabmap_ros::CoreWrapper::globalPose_

private

Definition at line 372 of file CoreWrapper.h.

globalPoseAsyncSub_

ros::Subscriber rtabmap_ros::CoreWrapper::globalPoseAsyncSub_

private

Definition at line 371 of file CoreWrapper.h.

goalFrameId_

std::string rtabmap_ros::CoreWrapper::goalFrameId_

private

Definition at line 316 of file CoreWrapper.h.

goalNodeSub_

ros::Subscriber rtabmap_ros::CoreWrapper::goalNodeSub_

private

Definition at line 309 of file CoreWrapper.h.

goalReachedPub_

ros::Publisher rtabmap_ros::CoreWrapper::goalReachedPub_

private

Definition at line 311 of file CoreWrapper.h.

goalSub_

ros::Subscriber rtabmap_ros::CoreWrapper::goalSub_

private

Definition at line 308 of file CoreWrapper.h.

gps_

rtabmap::GPS rtabmap_ros::CoreWrapper::gps_

private

Definition at line 374 of file CoreWrapper.h.

gpsFixAsyncSub_

ros::Subscriber rtabmap_ros::CoreWrapper::gpsFixAsyncSub_

private

Definition at line 373 of file CoreWrapper.h.

groundTruthBaseFrameId_

std::string rtabmap_ros::CoreWrapper::groundTruthBaseFrameId_

private

Definition at line 267 of file CoreWrapper.h.

groundTruthFrameId_

std::string rtabmap_ros::CoreWrapper::groundTruthFrameId_

private

Definition at line 266 of file CoreWrapper.h.

imuFrameId_

std::string rtabmap_ros::CoreWrapper::imuFrameId_

private

Definition at line 380 of file CoreWrapper.h.

imus_

std::map<double, rtabmap::Transform> rtabmap_ros::CoreWrapper::imus_

private

Definition at line 379 of file CoreWrapper.h.

imuSub_

ros::Subscriber rtabmap_ros::CoreWrapper::imuSub_

private

Definition at line 378 of file CoreWrapper.h.

infoPub_

ros::Publisher rtabmap_ros::CoreWrapper::infoPub_

private

Definition at line 294 of file CoreWrapper.h.

initialPoseSub_

ros::Subscriber rtabmap_ros::CoreWrapper::initialPoseSub_

private

Definition at line 305 of file CoreWrapper.h.

interOdomInfoSyncSub_

message_filters::Subscriber<rtabmap_ros::OdomInfo> rtabmap_ros::CoreWrapper::interOdomInfoSyncSub_

private

Definition at line 386 of file CoreWrapper.h.

interOdoms_

std::list<std::pair<nav_msgs::Odometry, rtabmap_ros::OdomInfo> > rtabmap_ros::CoreWrapper::interOdoms_

private

Definition at line 384 of file CoreWrapper.h.

interOdomSub_

ros::Subscriber rtabmap_ros::CoreWrapper::interOdomSub_

private

Definition at line 383 of file CoreWrapper.h.

interOdomSync_

message_filters::Synchronizer<MyExactInterOdomSyncPolicy>* rtabmap_ros::CoreWrapper::interOdomSync_

private

Definition at line 388 of file CoreWrapper.h.

interOdomSyncSub_

message_filters::Subscriber<nav_msgs::Odometry> rtabmap_ros::CoreWrapper::interOdomSyncSub_

private

Definition at line 385 of file CoreWrapper.h.

labelsPub_

ros::Publisher rtabmap_ros::CoreWrapper::labelsPub_

private

Definition at line 299 of file CoreWrapper.h.

landmarkDefaultAngVariance_

double rtabmap_ros::CoreWrapper::landmarkDefaultAngVariance_

private

Definition at line 272 of file CoreWrapper.h.

landmarkDefaultLinVariance_

double rtabmap_ros::CoreWrapper::landmarkDefaultLinVariance_

private

Definition at line 273 of file CoreWrapper.h.

landmarksPub_

ros::Publisher rtabmap_ros::CoreWrapper::landmarksPub_

private

Definition at line 298 of file CoreWrapper.h.

lastPose_

rtabmap::Transform rtabmap_ros::CoreWrapper::lastPose_

private

Definition at line 252 of file CoreWrapper.h.

lastPoseIntermediate_

bool rtabmap_ros::CoreWrapper::lastPoseIntermediate_

private

Definition at line 255 of file CoreWrapper.h.

lastPoseStamp_

ros::Time rtabmap_ros::CoreWrapper::lastPoseStamp_

private

Definition at line 253 of file CoreWrapper.h.

lastPoseVelocity_

std::vector<float> rtabmap_ros::CoreWrapper::lastPoseVelocity_

private

Definition at line 254 of file CoreWrapper.h.

lastPublishedMetricGoal_

rtabmap::Transform rtabmap_ros::CoreWrapper::lastPublishedMetricGoal_

private

Definition at line 258 of file CoreWrapper.h.

latestNodeWasReached_

bool rtabmap_ros::CoreWrapper::latestNodeWasReached_

private

Definition at line 259 of file CoreWrapper.h.

listLabelsSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::listLabelsSrv_

private

Definition at line 350 of file CoreWrapper.h.

loadDatabaseSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::loadDatabaseSrv_

private

Definition at line 325 of file CoreWrapper.h.

localGridEmpty_

ros::Publisher rtabmap_ros::CoreWrapper::localGridEmpty_

private

Definition at line 302 of file CoreWrapper.h.

localGridGround_

ros::Publisher rtabmap_ros::CoreWrapper::localGridGround_

private

Definition at line 303 of file CoreWrapper.h.

localGridObstacle_

ros::Publisher rtabmap_ros::CoreWrapper::localGridObstacle_

private

Definition at line 301 of file CoreWrapper.h.

localizationPosePub_

ros::Publisher rtabmap_ros::CoreWrapper::localizationPosePub_

private

Definition at line 304 of file CoreWrapper.h.

localPathNodesPub_

ros::Publisher rtabmap_ros::CoreWrapper::localPathNodesPub_

private

Definition at line 315 of file CoreWrapper.h.

localPathPub_

ros::Publisher rtabmap_ros::CoreWrapper::localPathPub_

private

Definition at line 313 of file CoreWrapper.h.

mapDataPub_

ros::Publisher rtabmap_ros::CoreWrapper::mapDataPub_

private

Definition at line 295 of file CoreWrapper.h.

mapFrameId_

std::string rtabmap_ros::CoreWrapper::mapFrameId_

private

Definition at line 265 of file CoreWrapper.h.

mapGraphPub_

ros::Publisher rtabmap_ros::CoreWrapper::mapGraphPub_

private

Definition at line 296 of file CoreWrapper.h.

mapPathPub_

ros::Publisher rtabmap_ros::CoreWrapper::mapPathPub_

private

Definition at line 300 of file CoreWrapper.h.

mappingAltitudeDelta_

double rtabmap_ros::CoreWrapper::mappingAltitudeDelta_

private

Definition at line 395 of file CoreWrapper.h.

mappingMaxNodes_

int rtabmap_ros::CoreWrapper::mappingMaxNodes_

private

Definition at line 394 of file CoreWrapper.h.

mapsManager_

MapsManager rtabmap_ros::CoreWrapper::mapsManager_

private

Definition at line 292 of file CoreWrapper.h.

mapToOdom_

rtabmap::Transform rtabmap_ros::CoreWrapper::mapToOdom_

private

Definition at line 289 of file CoreWrapper.h.

mapToOdomMutex_

boost::mutex rtabmap_ros::CoreWrapper::mapToOdomMutex_

private

Definition at line 290 of file CoreWrapper.h.

mbClient_

MoveBaseClient* rtabmap_ros::CoreWrapper::mbClient_

private

Definition at line 359 of file CoreWrapper.h.

nextMetricGoalPub_

ros::Publisher rtabmap_ros::CoreWrapper::nextMetricGoalPub_

private

Definition at line 310 of file CoreWrapper.h.

odomCachePub_

ros::Publisher rtabmap_ros::CoreWrapper::odomCachePub_

private

Definition at line 297 of file CoreWrapper.h.

odomDefaultAngVariance_

double rtabmap_ros::CoreWrapper::odomDefaultAngVariance_

private

Definition at line 270 of file CoreWrapper.h.

odomDefaultLinVariance_

double rtabmap_ros::CoreWrapper::odomDefaultLinVariance_

private

Definition at line 271 of file CoreWrapper.h.

odomFrameId_

std::string rtabmap_ros::CoreWrapper::odomFrameId_

private

Definition at line 264 of file CoreWrapper.h.

odomSensorSync_

bool rtabmap_ros::CoreWrapper::odomSensorSync_

private

Definition at line 391 of file CoreWrapper.h.

parameters_

rtabmap::ParametersMap rtabmap_ros::CoreWrapper::parameters_

private

Definition at line 260 of file CoreWrapper.h.

paused_

bool rtabmap_ros::CoreWrapper::paused_

private

Definition at line 251 of file CoreWrapper.h.

pauseSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::pauseSrv_

private

Definition at line 323 of file CoreWrapper.h.

previousStamp_

ros::Time rtabmap_ros::CoreWrapper::previousStamp_

private

Definition at line 398 of file CoreWrapper.h.

publishMapDataSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::publishMapDataSrv_

private

Definition at line 344 of file CoreWrapper.h.

rate_

float rtabmap_ros::CoreWrapper::rate_

private

Definition at line 392 of file CoreWrapper.h.

removeLabelSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::removeLabelSrv_

private

Definition at line 351 of file CoreWrapper.h.

republishNodeDataSub_

ros::Subscriber rtabmap_ros::CoreWrapper::republishNodeDataSub_

private

Definition at line 381 of file CoreWrapper.h.

resetSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::resetSrv_

private

Definition at line 322 of file CoreWrapper.h.

resumeSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::resumeSrv_

private

Definition at line 324 of file CoreWrapper.h.

rtabmap_

rtabmap::Rtabmap rtabmap_ros::CoreWrapper::rtabmap_

private

Definition at line 250 of file CoreWrapper.h.

rtabmapROSStats_

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

private

Definition at line 261 of file CoreWrapper.h.

scanCloudIs2d_

bool rtabmap_ros::CoreWrapper::scanCloudIs2d_

private

Definition at line 287 of file CoreWrapper.h.

scanCloudMaxPoints_

int rtabmap_ros::CoreWrapper::scanCloudMaxPoints_

private

Definition at line 286 of file CoreWrapper.h.

setGoalSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::setGoalSrv_

private

Definition at line 347 of file CoreWrapper.h.

setLabelSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::setLabelSrv_

private

Definition at line 349 of file CoreWrapper.h.

setLogDebugSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::setLogDebugSrv_

private

Definition at line 333 of file CoreWrapper.h.

setLogErrorSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::setLogErrorSrv_

private

Definition at line 336 of file CoreWrapper.h.

setLogInfoSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::setLogInfoSrv_

private

Definition at line 334 of file CoreWrapper.h.

setLogWarnSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::setLogWarnSrv_

private

Definition at line 335 of file CoreWrapper.h.

setModeLocalizationSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::setModeLocalizationSrv_

private

Definition at line 331 of file CoreWrapper.h.

setModeMappingSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::setModeMappingSrv_

private

Definition at line 332 of file CoreWrapper.h.

stereoToDepth_

bool rtabmap_ros::CoreWrapper::stereoToDepth_

private

Definition at line 390 of file CoreWrapper.h.

tagDetectionsSub_

ros::Subscriber rtabmap_ros::CoreWrapper::tagDetectionsSub_

private

Definition at line 375 of file CoreWrapper.h.

tags_

std::map<int, std::pair<geometry_msgs::PoseWithCovarianceStamped, float> > rtabmap_ros::CoreWrapper::tags_

private

Definition at line 377 of file CoreWrapper.h.

tfBroadcaster_

tf2_ros::TransformBroadcaster rtabmap_ros::CoreWrapper::tfBroadcaster_

private

Definition at line 318 of file CoreWrapper.h.

tfListener_

tf::TransformListener rtabmap_ros::CoreWrapper::tfListener_

private

Definition at line 319 of file CoreWrapper.h.

tfThreadRunning_

bool rtabmap_ros::CoreWrapper::tfThreadRunning_

private

Definition at line 362 of file CoreWrapper.h.

transformThread_

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

private

Definition at line 361 of file CoreWrapper.h.

triggerNewMapSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::triggerNewMapSrv_

private

Definition at line 326 of file CoreWrapper.h.

twoDMapping_

bool rtabmap_ros::CoreWrapper::twoDMapping_

private

Definition at line 397 of file CoreWrapper.h.

ulogToRosout_

ULogToRosout rtabmap_ros::CoreWrapper::ulogToRosout_

private

Definition at line 400 of file CoreWrapper.h.

updateSrv_

ros::ServiceServer rtabmap_ros::CoreWrapper::updateSrv_

private

Definition at line 321 of file CoreWrapper.h.

useActionForGoal_

bool rtabmap_ros::CoreWrapper::useActionForGoal_

private

Definition at line 276 of file CoreWrapper.h.

userData_

cv::Mat rtabmap_ros::CoreWrapper::userData_

private

Definition at line 368 of file CoreWrapper.h.

userDataAsyncSub_

ros::Subscriber rtabmap_ros::CoreWrapper::userDataAsyncSub_

private

Definition at line 367 of file CoreWrapper.h.

userDataMutex_

UMutex rtabmap_ros::CoreWrapper::userDataMutex_

private

Definition at line 369 of file CoreWrapper.h.

useSavedMap_

bool rtabmap_ros::CoreWrapper::useSavedMap_

private

Definition at line 277 of file CoreWrapper.h.

waitForTransform_

bool rtabmap_ros::CoreWrapper::waitForTransform_

private

Definition at line 274 of file CoreWrapper.h.

waitForTransformDuration_

double rtabmap_ros::CoreWrapper::waitForTransformDuration_

private

Definition at line 275 of file CoreWrapper.h.

---

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

• CoreWrapper.h
• CoreWrapper.cpp