19 #ifndef SLAM_TOOLBOX_MERGE_MAPS_KINEMATIC_H_ 20 #define SLAM_TOOLBOX_MERGE_MAPS_KINEMATIC_H_ 29 #include <boost/thread.hpp> 63 bool mergeMapCallback(slam_toolbox_msgs::MergeMaps::Request& req, slam_toolbox_msgs::MergeMaps::Response& resp);
64 bool addSubmapCallback(slam_toolbox_msgs::AddSubmap::Request& req, slam_toolbox_msgs::AddSubmap::Response& resp);
65 void processInteractiveFeedback(
const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
67 void transformScan(LocalizedRangeScansIt iter,
tf2::Transform& submap_correction);
75 std::vector<ros::Publisher>
sstS_, sstmS_;
79 std::map<std::string, laser_utils::LaserMetadata>
lasers_;
83 std::unique_ptr<tf2_ros::TransformBroadcaster>
tfB_;
96 #endif //SLAM_TOOLBOX_MERGE_MAPS_KINEMATIC_H_
ros::ServiceServer ssSubmap_
std::vector< karto::LocalizedRangeScanVector >::iterator LocalizedRangeScansVecIt
std::map< int, tf2::Transform > submap_marker_transform_
std::unique_ptr< tf2_ros::TransformBroadcaster > tfB_
std::map< std::string, laser_utils::LaserMetadata > lasers_
karto::LocalizedRangeScanVector::iterator LocalizedRangeScansIt
std::vector< std::unique_ptr< karto::Dataset > > dataset_vec_
std::vector< karto::LocalizedRangeScanVector > scans_vec_
std::unique_ptr< interactive_markers::InteractiveMarkerServer > interactive_server_
std::map< int, Eigen::Vector3d > submap_locations_
std::vector< LocalizedRangeScan * > LocalizedRangeScanVector
std::vector< ros::Publisher > sstS_