Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap_ros::OdometryROS Class Referenceabstract

#include <OdometryROS.h>

Inheritance diagram for rtabmap_ros::OdometryROS:
Inheritance graph
[legend]

Public Member Functions

const std::string & frameId () const
 
const std::string & guessFrameId () const
 
bool isPaused () const
 
 OdometryROS (bool stereoParams, bool visParams, bool icpParams)
 
const std::string & odomFrameId () const
 
const rtabmap::ParametersMap & parameters () const
 
bool pause (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
void processData (rtabmap::SensorData &data, const std_msgs::Header &header)
 
bool reset (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool resetToPose (rtabmap_ros::ResetPose::Request &, rtabmap_ros::ResetPose::Response &)
 
bool resume (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
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 &)
 
virtual ~OdometryROS ()
 
- 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 ()
 

Protected Member Functions

void callbackCalled ()
 
virtual void flushCallbacks ()=0
 
virtual void postProcessData (const rtabmap::SensorData &data, const std_msgs::Header &header) const
 
double previousStamp () const
 
void startWarningThread (const std::string &subscribedTopicsMsg, bool approxSync)
 
tf::TransformListener & tfListener ()
 
rtabmap::Transform velocityGuess () const
 
double waitForTransformDuration () const
 
- 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
 

Private Member Functions

void callbackIMU (const sensor_msgs::ImuConstPtr &msg)
 
virtual void onInit ()
 
virtual void onOdomInit ()=0
 
void reset (const rtabmap::Transform &pose=rtabmap::Transform::getIdentity())
 
virtual void updateParameters (rtabmap::ParametersMap &parameters)
 
void warningLoop (const std::string &subscribedTopicsMsg, bool approxSync)
 

Private Attributes

std::pair< rtabmap::SensorData, std_msgs::Header > bufferedData_
 
bool callbackCalled_
 
double expectedUpdateRate_
 
std::string frameId_
 
std::string groundTruthBaseFrameId_
 
std::string groundTruthFrameId_
 
rtabmap::Transform guess_
 
std::string guessFrameId_
 
double guessMinRotation_
 
double guessMinTime_
 
double guessMinTranslation_
 
rtabmap::Transform guessPreviousPose_
 
bool icpParams_
 
bool imuProcessed_
 
std::map< double, rtabmap::IMU > imus_
 
ros::Subscriber imuSub_
 
double maxUpdateRate_
 
double minUpdateRate_
 
rtabmap::Odometry * odometry_
 
std::string odomFrameId_
 
ros::Publisher odomInfoLitePub_
 
ros::Publisher odomInfoPub_
 
ros::Publisher odomLastFrame_
 
ros::Publisher odomLocalMap_
 
ros::Publisher odomLocalScanMap_
 
ros::Publisher odomPub_
 
ros::Publisher odomRgbdImagePub_
 
int odomStrategy_
 
rtabmap::ParametersMap parameters_
 
bool paused_
 
ros::ServiceServer pauseSrv_
 
double previousStamp_
 
bool publishNullWhenLost_
 
bool publishTf_
 
int resetCountdown_
 
int resetCurrentCount_
 
ros::ServiceServer resetSrv_
 
ros::ServiceServer resetToPoseSrv_
 
ros::ServiceServer resumeSrv_
 
ros::ServiceServer setLogDebugSrv_
 
ros::ServiceServer setLogErrorSrv_
 
ros::ServiceServer setLogInfoSrv_
 
ros::ServiceServer setLogWarnSrv_
 
bool stereoParams_
 
tf2_ros::TransformBroadcaster tfBroadcaster_
 
tf::TransformListener tfListener_
 
ULogToRosout ulogToRosout_
 
bool visParams_
 
bool waitForTransform_
 
double waitForTransformDuration_
 
bool waitIMUToinit_
 
boost::thread * warningThread_
 

Detailed Description

Definition at line 55 of file OdometryROS.h.

Constructor & Destructor Documentation

◆ OdometryROS()

rtabmap_ros::OdometryROS::OdometryROS ( bool  stereoParams,
bool  visParams,
bool  icpParams 
)

Definition at line 59 of file OdometryROS.cpp.

◆ ~OdometryROS()

rtabmap_ros::OdometryROS::~OdometryROS ( )
virtual

Definition at line 92 of file OdometryROS.cpp.

Member Function Documentation

◆ callbackCalled()

void rtabmap_ros::OdometryROS::callbackCalled ( )
inlineprotected

Definition at line 81 of file OdometryROS.h.

◆ callbackIMU()

void rtabmap_ros::OdometryROS::callbackIMU ( const sensor_msgs::ImuConstPtr &  msg)
private

Definition at line 415 of file OdometryROS.cpp.

◆ flushCallbacks()

virtual void rtabmap_ros::OdometryROS::flushCallbacks ( )
protectedpure virtual

Implemented in rtabmap_ros::ICPOdometry, rtabmap_ros::StereoOdometry, rtabmap_ros::RGBDOdometry, and rtabmap_ros::RGBDICPOdometry.

◆ frameId()

const std::string& rtabmap_ros::OdometryROS::frameId ( ) const
inline

Definition at line 73 of file OdometryROS.h.

◆ guessFrameId()

const std::string& rtabmap_ros::OdometryROS::guessFrameId ( ) const
inline

Definition at line 75 of file OdometryROS.h.

◆ isPaused()

bool rtabmap_ros::OdometryROS::isPaused ( ) const
inline

Definition at line 77 of file OdometryROS.h.

◆ odomFrameId()

const std::string& rtabmap_ros::OdometryROS::odomFrameId ( ) const
inline

Definition at line 74 of file OdometryROS.h.

◆ onInit()

void rtabmap_ros::OdometryROS::onInit ( )
privatevirtual

Implements nodelet::Nodelet.

Definition at line 104 of file OdometryROS.cpp.

◆ onOdomInit()

virtual void rtabmap_ros::OdometryROS::onOdomInit ( )
privatepure virtual

Implemented in rtabmap_ros::RGBDOdometry, rtabmap_ros::RGBDICPOdometry, rtabmap_ros::StereoOdometry, and rtabmap_ros::ICPOdometry.

◆ parameters()

const rtabmap::ParametersMap& rtabmap_ros::OdometryROS::parameters ( ) const
inline

Definition at line 76 of file OdometryROS.h.

◆ pause()

bool rtabmap_ros::OdometryROS::pause ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 988 of file OdometryROS.cpp.

◆ postProcessData()

virtual void rtabmap_ros::OdometryROS::postProcessData ( const rtabmap::SensorData &  data,
const std_msgs::Header &  header 
) const
inlineprotectedvirtual

Reimplemented in rtabmap_ros::ICPOdometry.

Definition at line 88 of file OdometryROS.h.

◆ previousStamp()

double rtabmap_ros::OdometryROS::previousStamp ( ) const
inlineprotected

Definition at line 87 of file OdometryROS.h.

◆ processData()

void rtabmap_ros::OdometryROS::processData ( rtabmap::SensorData &  data,
const std_msgs::Header &  header 
)

Definition at line 456 of file OdometryROS.cpp.

◆ reset() [1/2]

bool rtabmap_ros::OdometryROS::reset ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 960 of file OdometryROS.cpp.

◆ reset() [2/2]

void rtabmap_ros::OdometryROS::reset ( const rtabmap::Transform &  pose = rtabmap::Transform::getIdentity())
private

Definition at line 975 of file OdometryROS.cpp.

◆ resetToPose()

bool rtabmap_ros::OdometryROS::resetToPose ( rtabmap_ros::ResetPose::Request &  req,
rtabmap_ros::ResetPose::Response &   
)

Definition at line 967 of file OdometryROS.cpp.

◆ resume()

bool rtabmap_ros::OdometryROS::resume ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 1002 of file OdometryROS.cpp.

◆ setLogDebug()

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

Definition at line 1016 of file OdometryROS.cpp.

◆ setLogError()

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

Definition at line 1034 of file OdometryROS.cpp.

◆ setLogInfo()

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

Definition at line 1022 of file OdometryROS.cpp.

◆ setLogWarn()

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

Definition at line 1028 of file OdometryROS.cpp.

◆ startWarningThread()

void rtabmap_ros::OdometryROS::startWarningThread ( const std::string &  subscribedTopicsMsg,
bool  approxSync 
)
protected

Definition at line 381 of file OdometryROS.cpp.

◆ tfListener()

tf::TransformListener& rtabmap_ros::OdometryROS::tfListener ( )
inlineprotected

Definition at line 84 of file OdometryROS.h.

◆ updateParameters()

virtual void rtabmap_ros::OdometryROS::updateParameters ( rtabmap::ParametersMap &  parameters)
inlineprivatevirtual

Definition at line 94 of file OdometryROS.h.

◆ velocityGuess()

rtabmap::Transform rtabmap_ros::OdometryROS::velocityGuess ( ) const
protected

Definition at line 406 of file OdometryROS.cpp.

◆ waitForTransformDuration()

double rtabmap_ros::OdometryROS::waitForTransformDuration ( ) const
inlineprotected

Definition at line 85 of file OdometryROS.h.

◆ warningLoop()

void rtabmap_ros::OdometryROS::warningLoop ( const std::string &  subscribedTopicsMsg,
bool  approxSync 
)
private

Definition at line 387 of file OdometryROS.cpp.

Member Data Documentation

◆ bufferedData_

std::pair<rtabmap::SensorData, std_msgs::Header > rtabmap_ros::OdometryROS::bufferedData_
private

Definition at line 154 of file OdometryROS.h.

◆ callbackCalled_

bool rtabmap_ros::OdometryROS::callbackCalled_
private

Definition at line 102 of file OdometryROS.h.

◆ expectedUpdateRate_

double rtabmap_ros::OdometryROS::expectedUpdateRate_
private

Definition at line 147 of file OdometryROS.h.

◆ frameId_

std::string rtabmap_ros::OdometryROS::frameId_
private

Definition at line 105 of file OdometryROS.h.

◆ groundTruthBaseFrameId_

std::string rtabmap_ros::OdometryROS::groundTruthBaseFrameId_
private

Definition at line 108 of file OdometryROS.h.

◆ groundTruthFrameId_

std::string rtabmap_ros::OdometryROS::groundTruthFrameId_
private

Definition at line 107 of file OdometryROS.h.

◆ guess_

rtabmap::Transform rtabmap_ros::OdometryROS::guess_
private

Definition at line 144 of file OdometryROS.h.

◆ guessFrameId_

std::string rtabmap_ros::OdometryROS::guessFrameId_
private

Definition at line 109 of file OdometryROS.h.

◆ guessMinRotation_

double rtabmap_ros::OdometryROS::guessMinRotation_
private

Definition at line 111 of file OdometryROS.h.

◆ guessMinTime_

double rtabmap_ros::OdometryROS::guessMinTime_
private

Definition at line 112 of file OdometryROS.h.

◆ guessMinTranslation_

double rtabmap_ros::OdometryROS::guessMinTranslation_
private

Definition at line 110 of file OdometryROS.h.

◆ guessPreviousPose_

rtabmap::Transform rtabmap_ros::OdometryROS::guessPreviousPose_
private

Definition at line 145 of file OdometryROS.h.

◆ icpParams_

bool rtabmap_ros::OdometryROS::icpParams_
private

Definition at line 143 of file OdometryROS.h.

◆ imuProcessed_

bool rtabmap_ros::OdometryROS::imuProcessed_
private

Definition at line 152 of file OdometryROS.h.

◆ imus_

std::map<double, rtabmap::IMU> rtabmap_ros::OdometryROS::imus_
private

Definition at line 153 of file OdometryROS.h.

◆ imuSub_

ros::Subscriber rtabmap_ros::OdometryROS::imuSub_
private

Definition at line 136 of file OdometryROS.h.

◆ maxUpdateRate_

double rtabmap_ros::OdometryROS::maxUpdateRate_
private

Definition at line 148 of file OdometryROS.h.

◆ minUpdateRate_

double rtabmap_ros::OdometryROS::minUpdateRate_
private

Definition at line 149 of file OdometryROS.h.

◆ odometry_

rtabmap::Odometry* rtabmap_ros::OdometryROS::odometry_
private

Definition at line 100 of file OdometryROS.h.

◆ odomFrameId_

std::string rtabmap_ros::OdometryROS::odomFrameId_
private

Definition at line 106 of file OdometryROS.h.

◆ odomInfoLitePub_

ros::Publisher rtabmap_ros::OdometryROS::odomInfoLitePub_
private

Definition at line 121 of file OdometryROS.h.

◆ odomInfoPub_

ros::Publisher rtabmap_ros::OdometryROS::odomInfoPub_
private

Definition at line 120 of file OdometryROS.h.

◆ odomLastFrame_

ros::Publisher rtabmap_ros::OdometryROS::odomLastFrame_
private

Definition at line 124 of file OdometryROS.h.

◆ odomLocalMap_

ros::Publisher rtabmap_ros::OdometryROS::odomLocalMap_
private

Definition at line 122 of file OdometryROS.h.

◆ odomLocalScanMap_

ros::Publisher rtabmap_ros::OdometryROS::odomLocalScanMap_
private

Definition at line 123 of file OdometryROS.h.

◆ odomPub_

ros::Publisher rtabmap_ros::OdometryROS::odomPub_
private

Definition at line 119 of file OdometryROS.h.

◆ odomRgbdImagePub_

ros::Publisher rtabmap_ros::OdometryROS::odomRgbdImagePub_
private

Definition at line 125 of file OdometryROS.h.

◆ odomStrategy_

int rtabmap_ros::OdometryROS::odomStrategy_
private

Definition at line 150 of file OdometryROS.h.

◆ parameters_

rtabmap::ParametersMap rtabmap_ros::OdometryROS::parameters_
private

Definition at line 117 of file OdometryROS.h.

◆ paused_

bool rtabmap_ros::OdometryROS::paused_
private

Definition at line 138 of file OdometryROS.h.

◆ pauseSrv_

ros::ServiceServer rtabmap_ros::OdometryROS::pauseSrv_
private

Definition at line 128 of file OdometryROS.h.

◆ previousStamp_

double rtabmap_ros::OdometryROS::previousStamp_
private

Definition at line 146 of file OdometryROS.h.

◆ publishNullWhenLost_

bool rtabmap_ros::OdometryROS::publishNullWhenLost_
private

Definition at line 116 of file OdometryROS.h.

◆ publishTf_

bool rtabmap_ros::OdometryROS::publishTf_
private

Definition at line 113 of file OdometryROS.h.

◆ resetCountdown_

int rtabmap_ros::OdometryROS::resetCountdown_
private

Definition at line 139 of file OdometryROS.h.

◆ resetCurrentCount_

int rtabmap_ros::OdometryROS::resetCurrentCount_
private

Definition at line 140 of file OdometryROS.h.

◆ resetSrv_

ros::ServiceServer rtabmap_ros::OdometryROS::resetSrv_
private

Definition at line 126 of file OdometryROS.h.

◆ resetToPoseSrv_

ros::ServiceServer rtabmap_ros::OdometryROS::resetToPoseSrv_
private

Definition at line 127 of file OdometryROS.h.

◆ resumeSrv_

ros::ServiceServer rtabmap_ros::OdometryROS::resumeSrv_
private

Definition at line 129 of file OdometryROS.h.

◆ setLogDebugSrv_

ros::ServiceServer rtabmap_ros::OdometryROS::setLogDebugSrv_
private

Definition at line 130 of file OdometryROS.h.

◆ setLogErrorSrv_

ros::ServiceServer rtabmap_ros::OdometryROS::setLogErrorSrv_
private

Definition at line 133 of file OdometryROS.h.

◆ setLogInfoSrv_

ros::ServiceServer rtabmap_ros::OdometryROS::setLogInfoSrv_
private

Definition at line 131 of file OdometryROS.h.

◆ setLogWarnSrv_

ros::ServiceServer rtabmap_ros::OdometryROS::setLogWarnSrv_
private

Definition at line 132 of file OdometryROS.h.

◆ stereoParams_

bool rtabmap_ros::OdometryROS::stereoParams_
private

Definition at line 141 of file OdometryROS.h.

◆ tfBroadcaster_

tf2_ros::TransformBroadcaster rtabmap_ros::OdometryROS::tfBroadcaster_
private

Definition at line 134 of file OdometryROS.h.

◆ tfListener_

tf::TransformListener rtabmap_ros::OdometryROS::tfListener_
private

Definition at line 135 of file OdometryROS.h.

◆ ulogToRosout_

ULogToRosout rtabmap_ros::OdometryROS::ulogToRosout_
private

Definition at line 156 of file OdometryROS.h.

◆ visParams_

bool rtabmap_ros::OdometryROS::visParams_
private

Definition at line 142 of file OdometryROS.h.

◆ waitForTransform_

bool rtabmap_ros::OdometryROS::waitForTransform_
private

Definition at line 114 of file OdometryROS.h.

◆ waitForTransformDuration_

double rtabmap_ros::OdometryROS::waitForTransformDuration_
private

Definition at line 115 of file OdometryROS.h.

◆ waitIMUToinit_

bool rtabmap_ros::OdometryROS::waitIMUToinit_
private

Definition at line 151 of file OdometryROS.h.

◆ warningThread_

boost::thread* rtabmap_ros::OdometryROS::warningThread_
private

Definition at line 101 of file OdometryROS.h.

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

rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Tue Jan 24 2023 04:04:40