Maintains a history of point clouds and generates an aggregate point cloud upon request. More...

#include <base_assembler_srv.h>

Public Member Functions
	BaseAssemblerSrv ()

virtual void	ConvertToCloud (const std::string &fixed_frame_id, const T &scan_in, sensor_msgs::PointCloud &cloud_out)=0
	Converts the current scan into a cloud in the specified fixed frame. More...

virtual unsigned int	GetPointsInScan (const T &scan)=0
	Returns the number of points in the current scan. More...

void	start ()
	Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once. More...

	~BaseAssemblerSrv ()

Protected Attributes
ros::NodeHandle	n_

ros::NodeHandle	private_ns_

tf::TransformListener *	tf_

Private Member Functions
bool	buildCloud (AssembleScans::Request &req, AssembleScans::Response &resp)
	Service Callback function called whenever we need to build a cloud. More...

void	scansCallback (const boost::shared_ptr< const T > &scan_ptr)
	Callback function for every time we receive a new scan. More...

Private Attributes
ros::ServiceServer	cloud_srv_server_

unsigned int	downsample_factor_
	Specify how much to downsample the data. A value of 1 preserves all the data. 3 would keep 1/3 of the data. More...

std::string	fixed_frame_
	The frame to transform data into upon receipt. More...

unsigned int	max_scans_
	The max number of scans to store in the scan history. More...

std::deque< sensor_msgs::PointCloud >	scan_hist_
	Stores history of scans. More...

boost::mutex	scan_hist_mutex_

message_filters::Subscriber< T >	scan_sub_

tf::MessageFilter< T > *	tf_filter_

message_filters::Connection	tf_filter_connection_

double	tf_tolerance_secs_
	How long we should wait before processing the input data. Very useful for laser scans. More...

unsigned int	total_pts_
	The number points currently in the scan history. More...

Detailed Description

template<class T>
class laser_assembler::BaseAssemblerSrv< T >

Maintains a history of point clouds and generates an aggregate point cloud upon request.

Todo:: Clean up the doxygen part of this header

ROS Parameters

Reads the following parameters from the parameter server

"~tf_cache_time_secs" (double) - The cache time (in seconds) to holds past transforms
"~tf_tolerance_secs (double) - The time (in seconds) to wait after the transform for scan_in is available. - \b "~max_scans" (unsigned int) - The number of scans to store in the assembler's history, until they're thrown away - \b "~fixed_frame" (string) - The frame to which received data should immeadiately be transformed to - \b "~downsampling_factor" (int) - Specifies how often to sample from a scan. 1 preserves all the data. 3 keeps only 1/3 of the points.

ROS Service Calls

"~build_cloud" (AssembleScans.srv) - Accumulates scans between begin time and end time and returns the aggregated data as a point cloud

Definition at line 104 of file base_assembler_srv.h.

Constructor & Destructor Documentation

◆ BaseAssemblerSrv()

template<class T >

laser_assembler::BaseAssemblerSrv< T >::BaseAssemblerSrv

Definition at line 179 of file base_assembler_srv.h.

◆ ~BaseAssemblerSrv()

template<class T >

laser_assembler::BaseAssemblerSrv< T >::~BaseAssemblerSrv

Definition at line 251 of file base_assembler_srv.h.

Member Function Documentation

◆ buildCloud()

template<class T >

bool laser_assembler::BaseAssemblerSrv< T >::buildCloud	(	AssembleScans::Request &	req,
		AssembleScans::Response &	resp
	)

private

Service Callback function called whenever we need to build a cloud.

Definition at line 293 of file base_assembler_srv.h.

◆ ConvertToCloud()

template<class T >

virtual void laser_assembler::BaseAssemblerSrv< T >::ConvertToCloud	(	const std::string &	fixed_frame_id,
		const T &	scan_in,
		sensor_msgs::PointCloud &	cloud_out
	)

pure virtual

Converts the current scan into a cloud in the specified fixed frame.

Note: Once implemented, ConvertToCloud should NOT catch TF exceptions. These exceptions are caught by BaseAssemblerSrv, and will be counted for diagnostic information

Parameters

fixed_frame_id	The name of the frame in which we want cloud_out to be in
scan_in	The scan that we want to convert
cloud_out	The result of transforming scan_in into a cloud in frame fixed_frame_id

◆ GetPointsInScan()

template<class T >

virtual unsigned int laser_assembler::BaseAssemblerSrv< T >::GetPointsInScan ( const T & scan )

pure virtual

Returns the number of points in the current scan.

Parameters

scan	The scan for for which we want to know the number of points

Returns: the number of points in scan

Implemented in laser_assembler::PointCloudAssemblerSrv, and laser_assembler::LaserScanAssemblerSrv.

◆ scansCallback()

template<class T >

void laser_assembler::BaseAssemblerSrv< T >::scansCallback ( const boost::shared_ptr< const T > & scan_ptr )

private

Callback function for every time we receive a new scan.

Definition at line 260 of file base_assembler_srv.h.

◆ start()

template<class T >

void laser_assembler::BaseAssemblerSrv< T >::start

Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once.

Definition at line 236 of file base_assembler_srv.h.

Member Data Documentation

◆ cloud_srv_server_

template<class T >

ros::ServiceServer laser_assembler::BaseAssemblerSrv< T >::cloud_srv_server_

private

Definition at line 176 of file base_assembler_srv.h.

◆ downsample_factor_

template<class T >

unsigned int laser_assembler::BaseAssemblerSrv< T >::downsample_factor_

private

Specify how much to downsample the data. A value of 1 preserves all the data. 3 would keep 1/3 of the data.

Definition at line 206 of file base_assembler_srv.h.

◆ fixed_frame_

template<class T >

std::string laser_assembler::BaseAssemblerSrv< T >::fixed_frame_

private

The frame to transform data into upon receipt.

Definition at line 200 of file base_assembler_srv.h.

◆ max_scans_

template<class T >

unsigned int laser_assembler::BaseAssemblerSrv< T >::max_scans_

private

The max number of scans to store in the scan history.

Definition at line 197 of file base_assembler_srv.h.

◆ n_

template<class T >

ros::NodeHandle laser_assembler::BaseAssemblerSrv< T >::n_

protected

Definition at line 172 of file base_assembler_srv.h.

◆ private_ns_

template<class T >

ros::NodeHandle laser_assembler::BaseAssemblerSrv< T >::private_ns_

protected

Definition at line 171 of file base_assembler_srv.h.

◆ scan_hist_

template<class T >

std::deque<sensor_msgs::PointCloud> laser_assembler::BaseAssemblerSrv< T >::scan_hist_

private

Stores history of scans.

Definition at line 190 of file base_assembler_srv.h.

◆ scan_hist_mutex_

template<class T >

boost::mutex laser_assembler::BaseAssemblerSrv< T >::scan_hist_mutex_

private

Definition at line 191 of file base_assembler_srv.h.

◆ scan_sub_

template<class T >

message_filters::Subscriber<T> laser_assembler::BaseAssemblerSrv< T >::scan_sub_

private

Definition at line 177 of file base_assembler_srv.h.

◆ tf_

template<class T >

tf::TransformListener* laser_assembler::BaseAssemblerSrv< T >::tf_

protected

Definition at line 169 of file base_assembler_srv.h.

◆ tf_filter_

template<class T >

tf::MessageFilter<T>* laser_assembler::BaseAssemblerSrv< T >::tf_filter_

private

Definition at line 178 of file base_assembler_srv.h.

◆ tf_filter_connection_

template<class T >

message_filters::Connection laser_assembler::BaseAssemblerSrv< T >::tf_filter_connection_

private

Definition at line 179 of file base_assembler_srv.h.

◆ tf_tolerance_secs_

template<class T >

double laser_assembler::BaseAssemblerSrv< T >::tf_tolerance_secs_

private

How long we should wait before processing the input data. Very useful for laser scans.

Definition at line 203 of file base_assembler_srv.h.

◆ total_pts_

template<class T >

unsigned int laser_assembler::BaseAssemblerSrv< T >::total_pts_

private

The number points currently in the scan history.

Definition at line 194 of file base_assembler_srv.h.

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

base_assembler_srv.h

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

template<class T> class laser_assembler::BaseAssemblerSrv< T >

ROS Parameters

ROS Service Calls

Constructor & Destructor Documentation

◆ BaseAssemblerSrv()

◆ ~BaseAssemblerSrv()

Member Function Documentation

◆ buildCloud()

◆ ConvertToCloud()

◆ GetPointsInScan()

◆ scansCallback()

◆ start()

Member Data Documentation

◆ cloud_srv_server_

◆ downsample_factor_

◆ fixed_frame_

◆ max_scans_

◆ n_

◆ private_ns_

◆ scan_hist_

◆ scan_hist_mutex_

◆ scan_sub_

◆ tf_

◆ tf_filter_

◆ tf_filter_connection_

◆ tf_tolerance_secs_

◆ total_pts_

template<class T>
class laser_assembler::BaseAssemblerSrv< T >