mrpt_bridge Namespace Reference

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types. More...

Namespaces
	GPS
	image
	imu
	point_cloud
	range
	stereo_image

Classes
class	MapHdl
	the map class is implemented as singeleton use map::instance ()->ros2mrpt ... More...

Functions
bool	check_field (const sensor_msgs::PointField &input_field, std::string check_name, const sensor_msgs::PointField **output)
bool	convert (const CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
bool	convert (const CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)
bool	convert (const CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
bool	convert (const CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
bool	convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
bool	convert (const CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
bool	convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
bool	convert (const marker_msgs::MarkerDetection &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
void	convert (const mrpt::system::TTimeStamp &src, ros::Time &des)
bool	convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, CObservationBeaconRanges &_obj)
bool	convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, CObservationBearingRange &_obj)
void	convert (const ros::Time &src, mrpt::system::TTimeStamp &des)
bool	convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, CObservation2DRangeScan &_obj)
void	convert (mrpt_msgs::NetworkOfPoses &ros_graph, const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
bool	copy (const CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg)
bool	copy (const sensor_msgs::PointCloud2 &msg, CSimplePointsMap &obj)
void	get_float_from_field (const sensor_msgs::PointField *field, const unsigned char *data, float &output)
void	mrptToROSLoggerCallback (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp)
	callback that is called by MRPT mrpt::utils::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called. More...
void	mrptToROSLoggerCallback_mrpt_15 (const std::string &msg, const VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp, void *userParam)
mrpt::math::TPose3D	p2t (const mrpt::poses::CPose3D &p)
VerbosityLevel	rosLoggerLvlToMRPTLoggerLvl (log4cxx::LevelPtr lvl)
	function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel More...

ObservationRangeBeacon: ROS <-> MRPT
bool	convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBeaconRanges &_obj)
bool	convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
bool	convert (const mrpt::obs::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)
bool	convert (const mrpt_msgs::ObservationRangeBeacon &_msg, const mrpt::poses::CPose3D &_pose, mrpt::slam::CObservationBeaconRanges &_obj)
bool	convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg)
bool	convert (const mrpt::slam::CObservationBeaconRanges &_obj, mrpt_msgs::ObservationRangeBeacon &_msg, geometry_msgs::Pose &_pose)

LaserScan: ROS <-> MRPT
bool	convert (const mrpt_msgs::ObservationRangeBearing &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservationBearingRange &_obj)
bool	convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg)
bool	convert (const mrpt::obs::CObservationBearingRange &_obj, mrpt_msgs::ObservationRangeBearing &_msg, geometry_msgs::Pose &_pose)
bool	convert (const sensor_msgs::LaserScan &_msg, const mrpt::poses::CPose3D &_pose, mrpt::obs::CObservation2DRangeScan &_obj)
bool	convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg)
bool	convert (const mrpt::obs::CObservation2DRangeScan &_obj, sensor_msgs::LaserScan &_msg, geometry_msgs::Pose &_pose)

ROS \rightarrow MRPT conversions
void	convert (const mrpt::graphs::CNetworkOfPoses2D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
	Convert [MRPT] CNetworkOfPoses*D \rightarrow [ROS] NetworkOfPoses. More...
void	convert (const mrpt::graphs::CNetworkOfPoses3D &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt::graphs::CNetworkOfPoses2DInf_NA &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph, mrpt_msgs::NetworkOfPoses &ros_graph)
void	convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf &mrpt_graph)
void	convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses3DInf &mrpt_graph)
void	convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses2DInf_NA &mrpt_graph)
void	convert (const mrpt_msgs::NetworkOfPoses &ros_graph, mrpt::graphs::CNetworkOfPoses3DInf_NA &mrpt_graph)
mrpt::poses::CPose3D &	convert (const tf::Transform &_src, mrpt::poses::CPose3D &_des)
mrpt::math::CMatrixDouble33 &	convert (const tf::Matrix3x3 &_src, mrpt::math::CMatrixDouble33 &_des)
mrpt::poses::CPose2D &	convert (const geometry_msgs::Pose &_src, mrpt::poses::CPose2D &_des)
mrpt::poses::CPose3D &	convert (const geometry_msgs::Pose &_src, mrpt::poses::CPose3D &_des)
mrpt::poses::CPose3DPDFGaussian &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussian &_des)
mrpt::poses::CPose3DPDFGaussianInf &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPose3DPDFGaussianInf &_des)
mrpt::poses::CPosePDFGaussian &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussian &_des)
mrpt::poses::CPosePDFGaussianInf &	convert (const geometry_msgs::PoseWithCovariance &_src, mrpt::poses::CPosePDFGaussianInf &_des)
mrpt::poses::CQuaternionDouble &	convert (const geometry_msgs::Quaternion &_src, mrpt::poses::CQuaternionDouble &_des)

Detailed Description

File includes methods for converting CNetworkOfPoses*DInf <=> NetworkOfPoses message types.

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h

ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationIMU.h

ROS message : http://docs.ros.org/api/sensor_msgs/html/msg/Range.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationRange.h

Function Documentation

check_field()

bool mrpt_bridge::check_field ( const sensor_msgs::PointField &  input_field, std::string  check_name, const sensor_msgs::PointField **  output  )

inline

Definition at line 23 of file point_cloud2.cpp.

convert() [1/62]

bool mrpt_bridge::convert	(	const CObservation2DRangeScan &	_obj,
		sensor_msgs::LaserScan &	_msg
	)

Definition at line 66 of file laser_scan.cpp.

convert() [2/62]

bool mrpt_bridge::convert	(	const CObservation2DRangeScan &	_obj,
		sensor_msgs::LaserScan &	_msg,
		geometry_msgs::Pose &	_pose
	)

Definition at line 92 of file laser_scan.cpp.

convert() [3/62]

bool mrpt_bridge::convert	(	const CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg
	)

Definition at line 59 of file beacon.cpp.

convert() [4/62]

bool mrpt_bridge::convert	(	const CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg,
		geometry_msgs::Pose &	_pose
	)

Definition at line 87 of file beacon.cpp.

convert() [5/62]

bool mrpt_bridge::convert	(	const CObservationBearingRange &	_obj,
		mrpt_msgs::ObservationRangeBearing &	_msg
	)

Definition at line 71 of file landmark.cpp.

convert() [6/62]

bool mrpt_bridge::convert	(	const CObservationBearingRange &	_obj,
		mrpt_msgs::ObservationRangeBearing &	_msg,
		geometry_msgs::Pose &	_pose
	)

Definition at line 102 of file landmark.cpp.

convert() [7/62]

bool mrpt_bridge::convert	(	const COccupancyGridMap2D &	src,
		nav_msgs::OccupancyGrid &	msg
	)

converts mrpt object to ros msg

Returns

true on sucessful conversion, false on any error.

Parameters

src
des
header

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 144 of file map.cpp.

convert() [8/62]

bool mrpt_bridge::convert	(	const COccupancyGridMap2D &	src,
		nav_msgs::OccupancyGrid &	msg,
		const std_msgs::Header &	header
	)

converts mrpt object to ros msg and updates the msg header

Returns

true on sucessful conversion, false on any error.

Parameters

src
des
header

Definition at line 136 of file map.cpp.

convert() [9/62]

mrpt::poses::CPose2D & mrpt_bridge::convert	(	const geometry_msgs::Pose &	_src,
		mrpt::poses::CPose2D &	_des
	)

Convert: [ROS] Pose \rightarrow [MRPT] CPose2D

Definition at line 214 of file pose.cpp.

convert() [10/62]

mrpt::poses::CPose3D & mrpt_bridge::convert	(	const geometry_msgs::Pose &	_src,
		mrpt::poses::CPose3D &	_des
	)

Convert: [ROS] Pose \rightarrow [MRPT] CPose3D

Definition at line 368 of file pose.cpp.

convert() [11/62]

mrpt::poses::CPose3DPDFGaussian & mrpt_bridge::convert	(	const geometry_msgs::PoseWithCovariance &	_src,
		mrpt::poses::CPose3DPDFGaussian &	_des
	)

Convert: [ROS] PoseWithCovariance \rightarrow [MRPT] CPose3DPDFGaussian

Definition at line 276 of file pose.cpp.

convert() [12/62]

mrpt::poses::CPose3DPDFGaussianInf & mrpt_bridge::convert	(	const geometry_msgs::PoseWithCovariance &	_src,
		mrpt::poses::CPose3DPDFGaussianInf &	_des
	)

Convert: [ROS] PoseWithCovariance \rightarrow [MRPT] CPose3DPDFGaussianInf

Definition at line 295 of file pose.cpp.

convert() [13/62]

mrpt::poses::CPosePDFGaussian & mrpt_bridge::convert	(	const geometry_msgs::PoseWithCovariance &	_src,
		mrpt::poses::CPosePDFGaussian &	_des
	)

Convert: [ROS] PoseWithCovariance \rightarrow [MRPT] CPosePDFGaussian (x,y,yaw)

Definition at line 307 of file pose.cpp.

convert() [14/62]

mrpt::poses::CPosePDFGaussianInf & mrpt_bridge::convert	(	const geometry_msgs::PoseWithCovariance &	_src,
		mrpt::poses::CPosePDFGaussianInf &	_des
	)

Convert: [ROS] PoseWithCovariance \rightarrow [MRPT] CPosePDFGaussianInf (x,y,yaw)

Definition at line 326 of file pose.cpp.

convert() [15/62]

mrpt::poses::CQuaternionDouble & mrpt_bridge::convert	(	const geometry_msgs::Quaternion &	_src,
		mrpt::poses::CQuaternionDouble &	_des
	)

Convert: [ROS] Quaternion \rightarrow [MRPT] CQuaternionDouble

Definition at line 338 of file pose.cpp.

convert() [16/62]

bool mrpt_bridge::convert	(	const marker_msgs::MarkerDetection &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservationBeaconRanges &	_obj
	)

Definition at line 58 of file marker_msgs.cpp.

convert() [17/62]

bool mrpt_bridge::convert	(	const marker_msgs::MarkerDetection &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservationBearingRange &	_obj
	)

Definition at line 27 of file marker_msgs.cpp.

convert() [18/62]

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses2D &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Convert [MRPT] CNetworkOfPoses*D \rightarrow [ROS] NetworkOfPoses.

Convert [ROS] NetworkOfPoses \rightarrow [MRPT] CNetworkOfPoses*DInf.

Parameters

[in]	mrpt_graph	MRPT graph representation
[out]	ros_graph	ROS graph representation
[in]	mrpt_graph	ROS graph representation
[out]	ros_graph	MRPT graph representation

convert() [19/62]

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses2DInf &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Definition at line 33 of file network_of_poses.cpp.

convert() [20/62]

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses2DInf_NA &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Definition at line 109 of file network_of_poses.cpp.

convert() [21/62]

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses3D &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

convert() [22/62]

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses3DInf &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Definition at line 99 of file network_of_poses.cpp.

convert() [23/62]

void mrpt_bridge::convert	(	const mrpt::graphs::CNetworkOfPoses3DInf_NA &	mrpt_graph,
		mrpt_msgs::NetworkOfPoses &	ros_graph
	)

Definition at line 184 of file network_of_poses.cpp.

convert() [24/62]

tf::Matrix3x3 & mrpt_bridge::convert	(	const mrpt::math::CMatrixDouble33 &	_src,
		tf::Matrix3x3 &	_des
	)

Convert: [MRPT] Matrix \rightarrow [ROS] Matrix

Definition at line 58 of file pose.cpp.

convert() [25/62]

geometry_msgs::Pose & mrpt_bridge::convert	(	const mrpt::math::TPose2D &	_src,
		geometry_msgs::Pose &	_des
	)

Convert: [MRPT] TPose2D \rightarrow [ROS] Pose

Convert: MRPT's TPose2D (x,y,yaw) -> ROS's Pose

Definition at line 186 of file pose.cpp.

convert() [26/62]

tf::Transform & mrpt_bridge::convert	(	const mrpt::math::TPose2D &	_src,
		tf::Transform &	_des
	)

Convert: [MRPT] TPose2D \rightarrow [ROS] Transform

Definition at line 401 of file pose.cpp.

convert() [27/62]

tf::Transform & mrpt_bridge::convert	(	const mrpt::math::TPose3D &	_src,
		tf::Transform &	_des
	)

Convert: [MRPT] TPose3D \rightarrow [ROS] Transform

Definition at line 390 of file pose.cpp.

convert() [28/62]

bool mrpt_bridge::convert	(	const mrpt::obs::CObservation2DRangeScan &	_obj,
		sensor_msgs::LaserScan &	_msg
	)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

convert() [29/62]

bool mrpt_bridge::convert	(	const mrpt::obs::CObservation2DRangeScan &	_obj,
		sensor_msgs::LaserScan &	_msg,
		geometry_msgs::Pose &	_pose
	)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan + the relative pose of the laser wrt base_link

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

convert() [30/62]

bool mrpt_bridge::convert	(	const mrpt::obs::CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg
	)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

convert() [31/62]

bool mrpt_bridge::convert	(	const mrpt::obs::CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg,
		geometry_msgs::Pose &	_pose
	)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

convert() [32/62]

bool mrpt_bridge::convert	(	const mrpt::obs::CObservationBearingRange &	_obj,
		mrpt_msgs::ObservationRangeBearing &	_msg
	)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

convert() [33/62]

bool mrpt_bridge::convert	(	const mrpt::obs::CObservationBearingRange &	_obj,
		mrpt_msgs::ObservationRangeBearing &	_msg,
		geometry_msgs::Pose &	_pose
	)

MRPT->ROS: Takes a CObservationBearingRange and outputs range data in mrpt_msgs::ObservationRangeBearing + the relative pose of the range sensor wrt base_link

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

convert() [34/62]

geometry_msgs::Pose & mrpt_bridge::convert	(	const mrpt::poses::CPose2D &	_src,
		geometry_msgs::Pose &	_des
	)

Convert: [MRPT] CPose2D (x,y,yaw) \rightarrow [ROS] Pose

Convert: MRPT's CPose2D (x,y,yaw) -> ROS's Pose

Definition at line 157 of file pose.cpp.

convert() [35/62]

tf::Transform & mrpt_bridge::convert	(	const mrpt::poses::CPose2D &	_src,
		tf::Transform &	_des
	)

Convert: [MRPT] CPose2D \rightarrow [ROS] Transform

Definition at line 396 of file pose.cpp.

convert() [36/62]

geometry_msgs::Pose & mrpt_bridge::convert	(	const mrpt::poses::CPose3D &	_src,
		geometry_msgs::Pose &	_des
	)

Convert: [MRPT] CPose3D \rightarrow [ROS] Pose

Definition at line 138 of file pose.cpp.

convert() [37/62]

tf::Transform & mrpt_bridge::convert	(	const mrpt::poses::CPose3D &	_src,
		tf::Transform &	_des
	)

Convert: [MRPT] CPose3D \rightarrow [ROS] Transform

Definition at line 113 of file pose.cpp.

convert() [38/62]

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert	(	const mrpt::poses::CPose3DPDFGaussian &	_src,
		geometry_msgs::PoseWithCovariance &	_des
	)

Convert: [MRPT] CPose3DPDFGaussian \rightarrow [ROS] PoseWithCovariance

Definition at line 72 of file pose.cpp.

convert() [39/62]

tf::Transform & mrpt_bridge::convert	(	const mrpt::poses::CPose3DPDFGaussian &	_src,
		tf::Transform &	_des
	)

Convert: [MRPT] CPose3DPDFGaussian \rightarrow [ROS] Transform

Definition at line 66 of file pose.cpp.

convert() [40/62]

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert	(	const mrpt::poses::CPose3DPDFGaussianInf &	_src,
		geometry_msgs::PoseWithCovariance &	_des
	)

Convert: [MRPT] CPose3DPDFGaussianInf \rightarrow [ROS] PoseWithCovariance

Definition at line 102 of file pose.cpp.

convert() [41/62]

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert	(	const mrpt::poses::CPosePDFGaussian &	_src,
		geometry_msgs::PoseWithCovariance &	_des
	)

Convert: [MRPT] CPosePDFGaussian (x,y,yaw) \rightarrow [ROS] PoseWithCovariance

Definition at line 231 of file pose.cpp.

convert() [42/62]

geometry_msgs::PoseWithCovariance & mrpt_bridge::convert	(	const mrpt::poses::CPosePDFGaussianInf &	_src,
		geometry_msgs::PoseWithCovariance &	_des
	)

Convert: [MRPT] CPosePDFGaussianInf (x,y,yaw) \rightarrow [ROS] PoseWithCovariance

Definition at line 265 of file pose.cpp.

convert() [43/62]

geometry_msgs::Quaternion & mrpt_bridge::convert	(	const mrpt::poses::CQuaternionDouble &	_src,
		geometry_msgs::Quaternion &	_des
	)

Convert: [MRPT] CQuaternionDouble \rightarrow [ROS] Quaternion

Definition at line 357 of file pose.cpp.

convert() [44/62]

bool mrpt_bridge::convert	(	const mrpt::slam::CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg
	)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

convert() [45/62]

bool mrpt_bridge::convert	(	const mrpt::slam::CObservationBeaconRanges &	_obj,
		mrpt_msgs::ObservationRangeBeacon &	_msg,
		geometry_msgs::Pose &	_pose
	)

MRPT->ROS: Takes a CObservationBeaconRanges and outputs range data in mrpt_msgs::ObservationRangeBeacon + the relative pose of the range sensor wrt base_link

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

convert() [46/62]

void mrpt_bridge::convert	(	const mrpt::system::TTimeStamp &	src,
		ros::Time &	des
	)

converts mrpt time to ros time

Parameters

src	ros time
des	mrpt time

Definition at line 20 of file time.cpp.

convert() [47/62]

void mrpt_bridge::convert	(	const mrpt_msgs::NetworkOfPoses &	ros_graph,
		mrpt::graphs::CNetworkOfPoses2DInf &	mrpt_graph
	)

Definition at line 195 of file network_of_poses.cpp.

convert() [48/62]

void mrpt_bridge::convert	(	const mrpt_msgs::NetworkOfPoses &	ros_graph,
		mrpt::graphs::CNetworkOfPoses2DInf_NA &	mrpt_graph
	)

Definition at line 253 of file network_of_poses.cpp.

convert() [49/62]

void mrpt_bridge::convert	(	const mrpt_msgs::NetworkOfPoses &	ros_graph,
		mrpt::graphs::CNetworkOfPoses3DInf &	mrpt_graph
	)

Definition at line 243 of file network_of_poses.cpp.

convert() [50/62]

void mrpt_bridge::convert	(	const mrpt_msgs::NetworkOfPoses &	ros_graph,
		mrpt::graphs::CNetworkOfPoses3DInf_NA &	mrpt_graph
	)

convert() [51/62]

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBeacon &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		CObservationBeaconRanges &	_obj
	)

Definition at line 24 of file beacon.cpp.

convert() [52/62]

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBeacon &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservationBeaconRanges &	_obj
	)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns

true on sucessful conversion, false on any error.

See also

mrpt2ros

convert() [53/62]

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBeacon &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::slam::CObservationBeaconRanges &	_obj
	)

ROS->MRPT: Takes a mrpt_msgs::ObservationRangeBeacon and the relative pose of the range sensor wrt base_link and builds a CObservationBeaconRanges

Returns

true on sucessful conversion, false on any error.

See also

mrpt2ros

convert() [54/62]

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBearing &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		CObservationBearingRange &	_obj
	)

Definition at line 30 of file landmark.cpp.

convert() [55/62]

bool mrpt_bridge::convert	(	const mrpt_msgs::ObservationRangeBearing &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservationBearingRange &	_obj
	)

ROS->MRPT: Takes a mrpt_msgs::CObservationBearingRange and the relative pose of the laser wrt base_link and builds a ObservationRangeBearing

Returns

true on sucessful conversion, false on any error.

See also

mrpt2ros

convert() [56/62]

bool mrpt_bridge::convert	(	const nav_msgs::OccupancyGrid &	src,
		COccupancyGridMap2D &	des
	)

converts ros msg to mrpt object

Returns

true on sucessful conversion, false on any error.

Parameters

src
des

I hope the data is allways aligned

I hope the data is allways aligned

Definition at line 102 of file map.cpp.

convert() [57/62]

void mrpt_bridge::convert	(	const ros::Time &	src,
		mrpt::system::TTimeStamp &	des
	)

converts ros time to mrpt time

Parameters

src	ros time
des	mrpt time

Definition at line 13 of file time.cpp.

convert() [58/62]

bool mrpt_bridge::convert	(	const sensor_msgs::LaserScan &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		CObservation2DRangeScan &	_obj
	)

Definition at line 22 of file laser_scan.cpp.

convert() [59/62]

bool mrpt_bridge::convert	(	const sensor_msgs::LaserScan &	_msg,
		const mrpt::poses::CPose3D &	_pose,
		mrpt::obs::CObservation2DRangeScan &	_obj
	)

ROS->MRPT: Takes a sensor_msgs::LaserScan and the relative pose of the laser wrt base_link and builds a CObservation2DRangeScan

Returns

true on sucessful conversion, false on any error.

See also

mrpt2ros

convert() [60/62]

mrpt::math::CMatrixDouble33 & mrpt_bridge::convert	(	const tf::Matrix3x3 &	_src,
		mrpt::math::CMatrixDouble33 &	_des
	)

Convert: [ROS] Matrix \rightarrow [MRPT] Matrix

Definition at line 50 of file pose.cpp.

convert() [61/62]

mrpt::poses::CPose3D & mrpt_bridge::convert	(	const tf::Transform &	_src,
		mrpt::poses::CPose3D &	_des
	)

Convert: [ROS] CPose3D \rightarrow [MRPT] Transform

Definition at line 125 of file pose.cpp.

convert() [62/62]

void mrpt_bridge::convert	(	mrpt_msgs::NetworkOfPoses &	ros_graph,
		const mrpt::graphs::CNetworkOfPoses3DInf_NA &	mrpt_graph
	)

Definition at line 309 of file network_of_poses.cpp.

copy() [1/4]

bool mrpt_bridge::copy	(	const CSimplePointsMap &	obj,
		const std_msgs::Header &	msg_header,
		sensor_msgs::PointCloud2 &	msg
	)

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns

true on sucessful conversion, false on any error.

Definition at line 113 of file point_cloud2.cpp.

copy() [2/4]

bool mrpt_bridge::copy	(	const mrpt::maps::CSimplePointsMap &	obj,
		const std_msgs::Header &	msg_header,
		sensor_msgs::PointCloud2 &	msg
	)

Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud2::channels will be empty.

Returns

true on sucessful conversion, false on any error.

See also

ros2mrpt

copy() [3/4]

bool mrpt_bridge::copy	(	const sensor_msgs::PointCloud2 &	msg,
		CSimplePointsMap &	obj
	)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap

Returns

true on sucessful conversion, false on any error.

Definition at line 64 of file point_cloud2.cpp.

copy() [4/4]

bool mrpt_bridge::copy	(	const sensor_msgs::PointCloud2 &	msg,
		mrpt::maps::CSimplePointsMap &	obj
	)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap CSimplePointsMap only contains (x,y,z) data, so sensor_msgs::PointCloud2::channels are ignored.

Returns

true on sucessful conversion, false on any error.

See also

mrpt2ros

get_float_from_field()

void mrpt_bridge::get_float_from_field ( const sensor_msgs::PointField *  field, const unsigned char *  data, float &  output  )

inline

Definition at line 44 of file point_cloud2.cpp.

mrptToROSLoggerCallback()

void mrpt_bridge::mrptToROSLoggerCallback ( const std::string &  msg, const VerbosityLevel  level, const std::string &  loggerName, const mrpt::system::TTimeStamp  timestamp  )

inline

callback that is called by MRPT mrpt::utils::COuputLogger to redirect log messages to ROS logger. This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called.

Definition at line 78 of file utils.h.

mrptToROSLoggerCallback_mrpt_15()

void mrpt_bridge::mrptToROSLoggerCallback_mrpt_15 ( const std::string &  msg, const VerbosityLevel  level, const std::string &  loggerName, const mrpt::system::TTimeStamp  timestamp, void *  userParam  )

inline

Definition at line 107 of file utils.h.

p2t()

mrpt::math::TPose3D mrpt_bridge::p2t ( const mrpt::poses::CPose3D &  p )

inline

Definition at line 115 of file utils.h.

rosLoggerLvlToMRPTLoggerLvl()

VerbosityLevel mrpt_bridge::rosLoggerLvlToMRPTLoggerLvl ( log4cxx::LevelPtr  lvl )

inline

function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT's VerbosityLevel

Definition at line 39 of file utils.h.