Public Member Functions | Private Member Functions | Private Attributes | List of all members
MultiMapper Class Reference

#include <MultiMapper.h>

Public Member Functions

bool getMap (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
 
 MultiMapper ()
 
void onMessage (const void *sender, karto::MapperEventArguments &args)
 
void publishLoop ()
 
void publishTransform ()
 
void receiveInitialPose (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &pose)
 
void receiveLaserScan (const sensor_msgs::LaserScan::ConstPtr &scan)
 
void receiveLocalizedScan (const nav2d_msgs::LocalizedScan::ConstPtr &scan)
 
void sendLocalizedScan (const sensor_msgs::LaserScan::ConstPtr &scan, const karto::Pose2 &pose)
 
void setScanSolver (karto::ScanSolver *scanSolver)
 
 ~MultiMapper ()
 

Private Member Functions

karto::LocalizedRangeScan * createFromRosMessage (const sensor_msgs::LaserScan &scan, const karto::Identifier &robot)
 
bool sendMap ()
 
void setRobotPose (double x, double y, double yaw)
 
bool updateMap ()
 

Private Attributes

ros::Publisher mEdgesPublisher
 
nav_msgs::OccupancyGrid mGridMap
 
ros::Subscriber mInitialPoseSubscriber
 
karto::LaserRangeFinderPtr mLaser
 
std::string mLaserFrame
 
ros::Subscriber mLaserSubscriber
 
std::string mLaserTopic
 
ros::WallTime mLastMapUpdate
 
bool mMapChanged
 
std::string mMapFrame
 
karto::SmartPointer< karto::OpenMapper > mMapper
 
ros::Publisher mMapPublisher
 
double mMapResolution
 
ros::ServiceServer mMapServer
 
std::string mMapService
 
tf::Transform mMapToOdometry
 
std::string mMapTopic
 
int mMapUpdateRate
 
double mMaxCovariance
 
int mMinMapSize
 
int mNodesAdded
 
std::string mOdometryFrame
 
tf::Transform mOdometryOffset
 
std::string mOffsetFrame
 
std::map< int, karto::LaserRangeFinderPtr > mOtherLasers
 
ros::Publisher mOtherRobotsPublisher
 
ros::Publisher mPosePublisher
 
bool mPublishPoseGraph
 
double mRangeThreshold
 
std::string mRobotFrame
 
int mRobotID
 
std::string mScanInputTopic
 
std::string mScanOutputTopic
 
ros::Publisher mScanPublisher
 
ros::Subscriber mScanSubscriber
 
SelfLocalizer * mSelfLocalizer
 
int mState
 
tf::TransformBroadcaster mTransformBroadcaster
 
tf::TransformListener mTransformListener
 
ros::Publisher mVerticesPublisher
 

Detailed Description

Definition at line 23 of file MultiMapper.h.

Constructor & Destructor Documentation

◆ MultiMapper()

MultiMapper::MultiMapper ( )

Definition at line 9 of file MultiMapper.cpp.

◆ ~MultiMapper()

MultiMapper::~MultiMapper ( )

Definition at line 176 of file MultiMapper.cpp.

Member Function Documentation

◆ createFromRosMessage()

karto::LocalizedRangeScan * MultiMapper::createFromRosMessage ( const sensor_msgs::LaserScan &  scan,
const karto::Identifier &  robot 
)
private

Definition at line 223 of file MultiMapper.cpp.

◆ getMap()

bool MultiMapper::getMap ( nav_msgs::GetMap::Request &  req,
nav_msgs::GetMap::Response &  res 
)

Definition at line 391 of file MultiMapper.cpp.

◆ onMessage()

void MultiMapper::onMessage ( const void *  sender,
karto::MapperEventArguments &  args 
)

Definition at line 681 of file MultiMapper.cpp.

◆ publishLoop()

void MultiMapper::publishLoop ( )

◆ publishTransform()

void MultiMapper::publishTransform ( )

Definition at line 686 of file MultiMapper.cpp.

◆ receiveInitialPose()

void MultiMapper::receiveInitialPose ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &  pose)

Definition at line 664 of file MultiMapper.cpp.

◆ receiveLaserScan()

void MultiMapper::receiveLaserScan ( const sensor_msgs::LaserScan::ConstPtr &  scan)

Definition at line 259 of file MultiMapper.cpp.

◆ receiveLocalizedScan()

void MultiMapper::receiveLocalizedScan ( const nav2d_msgs::LocalizedScan::ConstPtr &  scan)

Definition at line 544 of file MultiMapper.cpp.

◆ sendLocalizedScan()

void MultiMapper::sendLocalizedScan ( const sensor_msgs::LaserScan::ConstPtr &  scan,
const karto::Pose2 &  pose 
)

Definition at line 636 of file MultiMapper.cpp.

◆ sendMap()

bool MultiMapper::sendMap ( )
private

Definition at line 410 of file MultiMapper.cpp.

◆ setRobotPose()

void MultiMapper::setRobotPose ( double  x,
double  y,
double  yaw 
)
private

Definition at line 186 of file MultiMapper.cpp.

◆ setScanSolver()

void MultiMapper::setScanSolver ( karto::ScanSolver *  scanSolver)

Definition at line 181 of file MultiMapper.cpp.

◆ updateMap()

bool MultiMapper::updateMap ( )
private

Definition at line 481 of file MultiMapper.cpp.

Member Data Documentation

◆ mEdgesPublisher

ros::Publisher MultiMapper::mEdgesPublisher
private

Definition at line 63 of file MultiMapper.h.

◆ mGridMap

nav_msgs::OccupancyGrid MultiMapper::mGridMap
private

Definition at line 57 of file MultiMapper.h.

◆ mInitialPoseSubscriber

ros::Subscriber MultiMapper::mInitialPoseSubscriber
private

Definition at line 68 of file MultiMapper.h.

◆ mLaser

karto::LaserRangeFinderPtr MultiMapper::mLaser
private

Definition at line 71 of file MultiMapper.h.

◆ mLaserFrame

std::string MultiMapper::mLaserFrame
private

Definition at line 89 of file MultiMapper.h.

◆ mLaserSubscriber

ros::Subscriber MultiMapper::mLaserSubscriber
private

Definition at line 66 of file MultiMapper.h.

◆ mLaserTopic

std::string MultiMapper::mLaserTopic
private

Definition at line 94 of file MultiMapper.h.

◆ mLastMapUpdate

ros::WallTime MultiMapper::mLastMapUpdate
private

Definition at line 86 of file MultiMapper.h.

◆ mMapChanged

bool MultiMapper::mMapChanged
private

Definition at line 74 of file MultiMapper.h.

◆ mMapFrame

std::string MultiMapper::mMapFrame
private

Definition at line 93 of file MultiMapper.h.

◆ mMapper

karto::SmartPointer<karto::OpenMapper> MultiMapper::mMapper
private

Definition at line 72 of file MultiMapper.h.

◆ mMapPublisher

ros::Publisher MultiMapper::mMapPublisher
private

Definition at line 60 of file MultiMapper.h.

◆ mMapResolution

double MultiMapper::mMapResolution
private

Definition at line 78 of file MultiMapper.h.

◆ mMapServer

ros::ServiceServer MultiMapper::mMapServer
private

Definition at line 59 of file MultiMapper.h.

◆ mMapService

std::string MultiMapper::mMapService
private

Definition at line 96 of file MultiMapper.h.

◆ mMapToOdometry

tf::Transform MultiMapper::mMapToOdometry
private

Definition at line 54 of file MultiMapper.h.

◆ mMapTopic

std::string MultiMapper::mMapTopic
private

Definition at line 95 of file MultiMapper.h.

◆ mMapUpdateRate

int MultiMapper::mMapUpdateRate
private

Definition at line 82 of file MultiMapper.h.

◆ mMaxCovariance

double MultiMapper::mMaxCovariance
private

Definition at line 80 of file MultiMapper.h.

◆ mMinMapSize

int MultiMapper::mMinMapSize
private

Definition at line 85 of file MultiMapper.h.

◆ mNodesAdded

int MultiMapper::mNodesAdded
private

Definition at line 84 of file MultiMapper.h.

◆ mOdometryFrame

std::string MultiMapper::mOdometryFrame
private

Definition at line 91 of file MultiMapper.h.

◆ mOdometryOffset

tf::Transform MultiMapper::mOdometryOffset
private

Definition at line 55 of file MultiMapper.h.

◆ mOffsetFrame

std::string MultiMapper::mOffsetFrame
private

Definition at line 92 of file MultiMapper.h.

◆ mOtherLasers

std::map<int, karto::LaserRangeFinderPtr> MultiMapper::mOtherLasers
private

Definition at line 73 of file MultiMapper.h.

◆ mOtherRobotsPublisher

ros::Publisher MultiMapper::mOtherRobotsPublisher
private

Definition at line 65 of file MultiMapper.h.

◆ mPosePublisher

ros::Publisher MultiMapper::mPosePublisher
private

Definition at line 64 of file MultiMapper.h.

◆ mPublishPoseGraph

bool MultiMapper::mPublishPoseGraph
private

Definition at line 83 of file MultiMapper.h.

◆ mRangeThreshold

double MultiMapper::mRangeThreshold
private

Definition at line 79 of file MultiMapper.h.

◆ mRobotFrame

std::string MultiMapper::mRobotFrame
private

Definition at line 90 of file MultiMapper.h.

◆ mRobotID

int MultiMapper::mRobotID
private

Definition at line 77 of file MultiMapper.h.

◆ mScanInputTopic

std::string MultiMapper::mScanInputTopic
private

Definition at line 97 of file MultiMapper.h.

◆ mScanOutputTopic

std::string MultiMapper::mScanOutputTopic
private

Definition at line 98 of file MultiMapper.h.

◆ mScanPublisher

ros::Publisher MultiMapper::mScanPublisher
private

Definition at line 61 of file MultiMapper.h.

◆ mScanSubscriber

ros::Subscriber MultiMapper::mScanSubscriber
private

Definition at line 67 of file MultiMapper.h.

◆ mSelfLocalizer

SelfLocalizer* MultiMapper::mSelfLocalizer
private

Definition at line 49 of file MultiMapper.h.

◆ mState

int MultiMapper::mState
private

Definition at line 81 of file MultiMapper.h.

◆ mTransformBroadcaster

tf::TransformBroadcaster MultiMapper::mTransformBroadcaster
private

Definition at line 53 of file MultiMapper.h.

◆ mTransformListener

tf::TransformListener MultiMapper::mTransformListener
private

Definition at line 52 of file MultiMapper.h.

◆ mVerticesPublisher

ros::Publisher MultiMapper::mVerticesPublisher
private

Definition at line 62 of file MultiMapper.h.

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

nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Wed Mar 2 2022 00:37:22