rtabmap_odom::OdometryROS Class Reference

#include <OdometryROS.h>

Inheritance diagram for rtabmap_odom::OdometryROS:

Classes
class	OdomStatusTask

Public Member Functions
const std::string &	frameId () const
const std::string &	guessFrameId () const
bool	isPaused () const
	OdometryROS (bool stereoParams, bool visParams, bool icpParams)
const std::string &	odomFrameId () const
const rtabmap::ParametersMap &	parameters () const
bool	pause (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	processData (rtabmap::SensorData &data, const std_msgs::Header &header)
bool	reset (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	resetToPose (rtabmap_msgs::ResetPose::Request &, rtabmap_msgs::ResetPose::Response &)
bool	resume (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogDebug (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogError (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogInfo (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogWarn (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
virtual	~OdometryROS ()
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()
Public Member Functions inherited from UThread
Handle	getThreadHandle () const
unsigned long	getThreadId () const
bool	isCreating () const
bool	isIdle () const
bool	isKilled () const
bool	isRunning () const
void	join (bool killFirst=false)
void	kill ()
void	setAffinity (int cpu=0)
void	setPriority (Priority priority)
void	start ()
	UThread (Priority priority=kPNormal)
virtual	~UThread ()
Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
virtual	~UThreadC ()
virtual	~UThreadC ()

Protected Member Functions
virtual void	flushCallbacks ()=0
void	initDiagnosticMsg (const std::string &subscribedTopicsMsg, bool approxSync, const std::string &subscribedTopic="")
virtual void	postProcessData (const rtabmap::SensorData &data, const std_msgs::Header &header) const
double	previousStamp () const
tf::TransformListener &	tfListener ()
rtabmap::Transform	velocityGuess () const
double	waitForTransformDuration () const
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const
Protected Member Functions inherited from UThreadC< void >
	UThreadC ()
	UThreadC ()

Private Member Functions
void	callbackIMU (const sensor_msgs::ImuConstPtr &msg)
virtual void	mainLoop ()
virtual void	mainLoopKill ()
virtual void	onInit ()
virtual void	onOdomInit ()=0
void	reset (const rtabmap::Transform &pose=rtabmap::Transform::getIdentity())
virtual void	updateParameters (rtabmap::ParametersMap &parameters)

Private Attributes
bool	bufferedDataToProcess_
std::string	compressionImgFormat_
bool	compressionParallelized_
std_msgs::Header	dataHeaderToProcess_
UMutex	dataMutex_
USemaphore	dataReady_
rtabmap::SensorData	dataToProcess_
double	expectedUpdateRate_
std::string	frameId_
std::string	groundTruthBaseFrameId_
std::string	groundTruthFrameId_
rtabmap::Transform	guess_
std::string	guessFrameId_
double	guessMinRotation_
double	guessMinTime_
double	guessMinTranslation_
rtabmap::Transform	guessPreviousPose_
bool	icpParams_
UMutex	imuMutex_
bool	imuProcessed_
std::map< double, rtabmap::IMU >	imus_
ros::Subscriber	imuSub_
double	maxUpdateRate_
double	minUpdateRate_
rtabmap::Odometry *	odometry_
std::string	odomFrameId_
ros::Publisher	odomInfoLitePub_
ros::Publisher	odomInfoPub_
ros::Publisher	odomLastFrame_
ros::Publisher	odomLocalMap_
ros::Publisher	odomLocalScanMap_
ros::Publisher	odomPub_
ros::Publisher	odomRgbdImagePub_
ros::Publisher	odomSensorDataCompressedPub_
ros::Publisher	odomSensorDataFeaturesPub_
ros::Publisher	odomSensorDataPub_
int	odomStrategy_
rtabmap::ParametersMap	parameters_
bool	paused_
ros::ServiceServer	pauseSrv_
double	previousStamp_
bool	publishCompressedSensorData_
bool	publishNullWhenLost_
bool	publishTf_
int	resetCountdown_
int	resetCurrentCount_
ros::ServiceServer	resetSrv_
ros::ServiceServer	resetToPoseSrv_
ros::ServiceServer	resumeSrv_
ros::ServiceServer	setLogDebugSrv_
ros::ServiceServer	setLogErrorSrv_
ros::ServiceServer	setLogInfoSrv_
ros::ServiceServer	setLogWarnSrv_
OdomStatusTask	statusDiagnostic_
bool	stereoParams_
std::unique_ptr< rtabmap_sync::SyncDiagnostic >	syncDiagnostic_
tf2_ros::TransformBroadcaster	tfBroadcaster_
tf::TransformListener	tfListener_
rtabmap_util::ULogToRosout	ulogToRosout_
bool	visParams_
bool	waitForTransform_
double	waitForTransformDuration_
bool	waitIMUToinit_

Additional Inherited Members
Public Types inherited from UThread
enum	Priority
Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle
typedef THREAD_HANDLE	Handle
typedef void(*	Handler) ()
typedef void(*	Handler) ()
Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()
Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
static int	Detach (const Handle &H)
static int	Detach (Handle H)
static int	Join (const Handle &H)
static int	Join (Handle H)
static int	Kill (const Handle &H)
static int	Kill (Handle H)
Public Attributes inherited from UThread
	kPAboveNormal
	kPBelowNormal
	kPLow
	kPNormal
	kPRealTime
Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()
static void	Exit ()
static int	Self ()
static Handle	Self ()
static void	TestCancel ()
static void	TestCancel ()

Detailed Description

Definition at line 59 of file OdometryROS.h.

Constructor & Destructor Documentation

OdometryROS()

rtabmap_odom::OdometryROS::OdometryROS	(	bool	stereoParams,
		bool	visParams,
		bool	icpParams
	)

Definition at line 60 of file OdometryROS.cpp.

~OdometryROS()

rtabmap_odom::OdometryROS::~OdometryROS ( )

virtual

Definition at line 94 of file OdometryROS.cpp.

Member Function Documentation

callbackIMU()

void rtabmap_odom::OdometryROS::callbackIMU ( const sensor_msgs::ImuConstPtr &  msg )

private

Definition at line 414 of file OdometryROS.cpp.

flushCallbacks()

virtual void rtabmap_odom::OdometryROS::flushCallbacks ( )

protectedpure virtual

Implemented in rtabmap_odom::StereoOdometry, rtabmap_odom::ICPOdometry, rtabmap_odom::RGBDOdometry, and rtabmap_odom::RGBDICPOdometry.

frameId()

const std::string& rtabmap_odom::OdometryROS::frameId ( ) const

inline

Definition at line 77 of file OdometryROS.h.

guessFrameId()

const std::string& rtabmap_odom::OdometryROS::guessFrameId ( ) const

inline

Definition at line 79 of file OdometryROS.h.

initDiagnosticMsg()

void rtabmap_odom::OdometryROS::initDiagnosticMsg ( const std::string &  subscribedTopicsMsg, bool  approxSync, const std::string &  subscribedTopic = ""  )

protected

Definition at line 388 of file OdometryROS.cpp.

isPaused()

bool rtabmap_odom::OdometryROS::isPaused ( ) const

inline

Definition at line 81 of file OdometryROS.h.

mainLoop()

void rtabmap_odom::OdometryROS::mainLoop ( )

privatevirtual

Implements UThread.

Definition at line 488 of file OdometryROS.cpp.

mainLoopKill()

void rtabmap_odom::OdometryROS::mainLoopKill ( )

privatevirtual

Reimplemented from UThread.

Definition at line 482 of file OdometryROS.cpp.

odomFrameId()

const std::string& rtabmap_odom::OdometryROS::odomFrameId ( ) const

inline

Definition at line 78 of file OdometryROS.h.

onInit()

void rtabmap_odom::OdometryROS::onInit ( )

privatevirtual

Implements nodelet::Nodelet.

Definition at line 100 of file OdometryROS.cpp.

onOdomInit()

virtual void rtabmap_odom::OdometryROS::onOdomInit ( )

privatepure virtual

Implemented in rtabmap_odom::RGBDICPOdometry, rtabmap_odom::RGBDOdometry, rtabmap_odom::StereoOdometry, and rtabmap_odom::ICPOdometry.

parameters()

const rtabmap::ParametersMap& rtabmap_odom::OdometryROS::parameters ( ) const

inline

Definition at line 80 of file OdometryROS.h.

pause()

bool rtabmap_odom::OdometryROS::pause	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1140 of file OdometryROS.cpp.

postProcessData()

virtual void rtabmap_odom::OdometryROS::postProcessData ( const rtabmap::SensorData &  data, const std_msgs::Header &  header  ) const

inlineprotectedvirtual

Reimplemented in rtabmap_odom::ICPOdometry.

Definition at line 91 of file OdometryROS.h.

previousStamp()

double rtabmap_odom::OdometryROS::previousStamp ( ) const

inlineprotected

Definition at line 90 of file OdometryROS.h.

processData()

void rtabmap_odom::OdometryROS::processData	(	rtabmap::SensorData &	data,
		const std_msgs::Header &	header
	)

Definition at line 461 of file OdometryROS.cpp.

reset() [1/2]

void rtabmap_odom::OdometryROS::reset ( const rtabmap::Transform &  pose = rtabmap::Transform::getIdentity() )

private

Definition at line 1122 of file OdometryROS.cpp.

reset() [2/2]

bool rtabmap_odom::OdometryROS::reset	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1107 of file OdometryROS.cpp.

resetToPose()

bool rtabmap_odom::OdometryROS::resetToPose	(	rtabmap_msgs::ResetPose::Request &	req,
		rtabmap_msgs::ResetPose::Response &
	)

Definition at line 1114 of file OdometryROS.cpp.

resume()

bool rtabmap_odom::OdometryROS::resume	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1154 of file OdometryROS.cpp.

setLogDebug()

bool rtabmap_odom::OdometryROS::setLogDebug	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1168 of file OdometryROS.cpp.

setLogError()

bool rtabmap_odom::OdometryROS::setLogError	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1186 of file OdometryROS.cpp.

setLogInfo()

bool rtabmap_odom::OdometryROS::setLogInfo	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1174 of file OdometryROS.cpp.

setLogWarn()

bool rtabmap_odom::OdometryROS::setLogWarn	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Definition at line 1180 of file OdometryROS.cpp.

tfListener()

tf::TransformListener& rtabmap_odom::OdometryROS::tfListener ( )

inlineprotected

Definition at line 87 of file OdometryROS.h.

updateParameters()

virtual void rtabmap_odom::OdometryROS::updateParameters ( rtabmap::ParametersMap &  parameters )

inlineprivatevirtual

Reimplemented in rtabmap_odom::RGBDOdometry, rtabmap_odom::StereoOdometry, rtabmap_odom::RGBDICPOdometry, and rtabmap_odom::ICPOdometry.

Definition at line 96 of file OdometryROS.h.

velocityGuess()

rtabmap::Transform rtabmap_odom::OdometryROS::velocityGuess ( ) const

protected

Definition at line 405 of file OdometryROS.cpp.

waitForTransformDuration()

double rtabmap_odom::OdometryROS::waitForTransformDuration ( ) const

inlineprotected

Definition at line 88 of file OdometryROS.h.

Member Data Documentation

bufferedDataToProcess_

bool rtabmap_odom::OdometryROS::bufferedDataToProcess_

private

Definition at line 151 of file OdometryROS.h.

compressionImgFormat_

std::string rtabmap_odom::OdometryROS::compressionImgFormat_

private

Definition at line 165 of file OdometryROS.h.

compressionParallelized_

bool rtabmap_odom::OdometryROS::compressionParallelized_

private

Definition at line 166 of file OdometryROS.h.

dataHeaderToProcess_

std_msgs::Header rtabmap_odom::OdometryROS::dataHeaderToProcess_

private

Definition at line 150 of file OdometryROS.h.

dataMutex_

UMutex rtabmap_odom::OdometryROS::dataMutex_

private

Definition at line 147 of file OdometryROS.h.

dataReady_

USemaphore rtabmap_odom::OdometryROS::dataReady_

private

Definition at line 148 of file OdometryROS.h.

dataToProcess_

rtabmap::SensorData rtabmap_odom::OdometryROS::dataToProcess_

private

Definition at line 149 of file OdometryROS.h.

expectedUpdateRate_

double rtabmap_odom::OdometryROS::expectedUpdateRate_

private

Definition at line 162 of file OdometryROS.h.

frameId_

std::string rtabmap_odom::OdometryROS::frameId_

private

Definition at line 108 of file OdometryROS.h.

groundTruthBaseFrameId_

std::string rtabmap_odom::OdometryROS::groundTruthBaseFrameId_

private

Definition at line 111 of file OdometryROS.h.

groundTruthFrameId_

std::string rtabmap_odom::OdometryROS::groundTruthFrameId_

private

Definition at line 110 of file OdometryROS.h.

guess_

rtabmap::Transform rtabmap_odom::OdometryROS::guess_

private

Definition at line 159 of file OdometryROS.h.

guessFrameId_

std::string rtabmap_odom::OdometryROS::guessFrameId_

private

Definition at line 112 of file OdometryROS.h.

guessMinRotation_

double rtabmap_odom::OdometryROS::guessMinRotation_

private

Definition at line 114 of file OdometryROS.h.

guessMinTime_

double rtabmap_odom::OdometryROS::guessMinTime_

private

Definition at line 115 of file OdometryROS.h.

guessMinTranslation_

double rtabmap_odom::OdometryROS::guessMinTranslation_

private

Definition at line 113 of file OdometryROS.h.

guessPreviousPose_

rtabmap::Transform rtabmap_odom::OdometryROS::guessPreviousPose_

private

Definition at line 160 of file OdometryROS.h.

icpParams_

bool rtabmap_odom::OdometryROS::icpParams_

private

Definition at line 158 of file OdometryROS.h.

imuMutex_

UMutex rtabmap_odom::OdometryROS::imuMutex_

private

Definition at line 146 of file OdometryROS.h.

imuProcessed_

bool rtabmap_odom::OdometryROS::imuProcessed_

private

Definition at line 169 of file OdometryROS.h.

imus_

std::map<double, rtabmap::IMU> rtabmap_odom::OdometryROS::imus_

private

Definition at line 170 of file OdometryROS.h.

imuSub_

ros::Subscriber rtabmap_odom::OdometryROS::imuSub_

private

Definition at line 143 of file OdometryROS.h.

maxUpdateRate_

double rtabmap_odom::OdometryROS::maxUpdateRate_

private

Definition at line 163 of file OdometryROS.h.

minUpdateRate_

double rtabmap_odom::OdometryROS::minUpdateRate_

private

Definition at line 164 of file OdometryROS.h.

odometry_

rtabmap::Odometry* rtabmap_odom::OdometryROS::odometry_

private

Definition at line 105 of file OdometryROS.h.

odomFrameId_

std::string rtabmap_odom::OdometryROS::odomFrameId_

private

Definition at line 109 of file OdometryROS.h.

odomInfoLitePub_

ros::Publisher rtabmap_odom::OdometryROS::odomInfoLitePub_

private

Definition at line 125 of file OdometryROS.h.

odomInfoPub_

ros::Publisher rtabmap_odom::OdometryROS::odomInfoPub_

private

Definition at line 124 of file OdometryROS.h.

odomLastFrame_

ros::Publisher rtabmap_odom::OdometryROS::odomLastFrame_

private

Definition at line 128 of file OdometryROS.h.

odomLocalMap_

ros::Publisher rtabmap_odom::OdometryROS::odomLocalMap_

private

Definition at line 126 of file OdometryROS.h.

odomLocalScanMap_

ros::Publisher rtabmap_odom::OdometryROS::odomLocalScanMap_

private

Definition at line 127 of file OdometryROS.h.

odomPub_

ros::Publisher rtabmap_odom::OdometryROS::odomPub_

private

Definition at line 123 of file OdometryROS.h.

odomRgbdImagePub_

ros::Publisher rtabmap_odom::OdometryROS::odomRgbdImagePub_

private

Definition at line 129 of file OdometryROS.h.

odomSensorDataCompressedPub_

ros::Publisher rtabmap_odom::OdometryROS::odomSensorDataCompressedPub_

private

Definition at line 132 of file OdometryROS.h.

odomSensorDataFeaturesPub_

ros::Publisher rtabmap_odom::OdometryROS::odomSensorDataFeaturesPub_

private

Definition at line 131 of file OdometryROS.h.

odomSensorDataPub_

ros::Publisher rtabmap_odom::OdometryROS::odomSensorDataPub_

private

Definition at line 130 of file OdometryROS.h.

odomStrategy_

int rtabmap_odom::OdometryROS::odomStrategy_

private

Definition at line 167 of file OdometryROS.h.

parameters_

rtabmap::ParametersMap rtabmap_odom::OdometryROS::parameters_

private

Definition at line 121 of file OdometryROS.h.

paused_

bool rtabmap_odom::OdometryROS::paused_

private

Definition at line 153 of file OdometryROS.h.

pauseSrv_

ros::ServiceServer rtabmap_odom::OdometryROS::pauseSrv_

private

Definition at line 135 of file OdometryROS.h.

previousStamp_

double rtabmap_odom::OdometryROS::previousStamp_

private

Definition at line 161 of file OdometryROS.h.

publishCompressedSensorData_

bool rtabmap_odom::OdometryROS::publishCompressedSensorData_

private

Definition at line 120 of file OdometryROS.h.

publishNullWhenLost_

bool rtabmap_odom::OdometryROS::publishNullWhenLost_

private

Definition at line 119 of file OdometryROS.h.

publishTf_

bool rtabmap_odom::OdometryROS::publishTf_

private

Definition at line 116 of file OdometryROS.h.

resetCountdown_

int rtabmap_odom::OdometryROS::resetCountdown_

private

Definition at line 154 of file OdometryROS.h.

resetCurrentCount_

int rtabmap_odom::OdometryROS::resetCurrentCount_

private

Definition at line 155 of file OdometryROS.h.

resetSrv_

ros::ServiceServer rtabmap_odom::OdometryROS::resetSrv_

private

Definition at line 133 of file OdometryROS.h.

resetToPoseSrv_

ros::ServiceServer rtabmap_odom::OdometryROS::resetToPoseSrv_

private

Definition at line 134 of file OdometryROS.h.

resumeSrv_

ros::ServiceServer rtabmap_odom::OdometryROS::resumeSrv_

private

Definition at line 136 of file OdometryROS.h.

setLogDebugSrv_

ros::ServiceServer rtabmap_odom::OdometryROS::setLogDebugSrv_

private

Definition at line 137 of file OdometryROS.h.

setLogErrorSrv_

ros::ServiceServer rtabmap_odom::OdometryROS::setLogErrorSrv_

private

Definition at line 140 of file OdometryROS.h.

setLogInfoSrv_

ros::ServiceServer rtabmap_odom::OdometryROS::setLogInfoSrv_

private

Definition at line 138 of file OdometryROS.h.

setLogWarnSrv_

ros::ServiceServer rtabmap_odom::OdometryROS::setLogWarnSrv_

private

Definition at line 139 of file OdometryROS.h.

statusDiagnostic_

OdomStatusTask rtabmap_odom::OdometryROS::statusDiagnostic_

private

Definition at line 184 of file OdometryROS.h.

stereoParams_

bool rtabmap_odom::OdometryROS::stereoParams_

private

Definition at line 156 of file OdometryROS.h.

syncDiagnostic_

std::unique_ptr<rtabmap_sync::SyncDiagnostic> rtabmap_odom::OdometryROS::syncDiagnostic_

private

Definition at line 185 of file OdometryROS.h.

tfBroadcaster_

tf2_ros::TransformBroadcaster rtabmap_odom::OdometryROS::tfBroadcaster_

private

Definition at line 141 of file OdometryROS.h.

tfListener_

tf::TransformListener rtabmap_odom::OdometryROS::tfListener_

private

Definition at line 142 of file OdometryROS.h.

ulogToRosout_

rtabmap_util::ULogToRosout rtabmap_odom::OdometryROS::ulogToRosout_

private

Definition at line 172 of file OdometryROS.h.

visParams_

bool rtabmap_odom::OdometryROS::visParams_

private

Definition at line 157 of file OdometryROS.h.

waitForTransform_

bool rtabmap_odom::OdometryROS::waitForTransform_

private

Definition at line 117 of file OdometryROS.h.

waitForTransformDuration_

double rtabmap_odom::OdometryROS::waitForTransformDuration_

private

Definition at line 118 of file OdometryROS.h.

waitIMUToinit_

bool rtabmap_odom::OdometryROS::waitIMUToinit_

private

Definition at line 168 of file OdometryROS.h.

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

• OdometryROS.h
• OdometryROS.cpp