19 #ifndef SLAM_TOOLBOX_SLAM_TOOLBOX_COMMON_H_ 20 #define SLAM_TOOLBOX_SLAM_TOOLBOX_COMMON_H_ 46 #include <boost/thread.hpp> 47 #include <sys/resource.h> 72 virtual void laserCallback(
const sensor_msgs::LaserScan::ConstPtr& scan) = 0;
74 nav_msgs::GetMap::Response& res);
76 slam_toolbox_msgs::SerializePoseGraph::Response& resp);
78 slam_toolbox_msgs::DeserializePoseGraph::Response& resp);
91 const sensor_msgs::LaserScan::ConstPtr& scan,
99 slam_toolbox_msgs::Pause::Response& resp);
103 std::unique_ptr<tf2_ros::Buffer>
tf_;
104 std::unique_ptr<tf2_ros::TransformListener>
tfL_;
105 std::unique_ptr<tf2_ros::TransformBroadcaster>
tfB_;
107 std::unique_ptr<tf2_ros::MessageFilter<sensor_msgs::LaserScan> >
scan_filter_;
122 std::map<std::string, laser_utils::LaserMetadata>
lasers_;
132 std::vector<std::unique_ptr<boost::thread> >
threads_;
136 nav_msgs::GetMap::Response
map_;
148 #endif //SLAM_TOOLBOX_SLAM_TOOLBOX_COMMON_H_
geometry_msgs::TransformStamped t