#include <CoreWrapper.h>

Inheritance diagram for rtabmap_slam::CoreWrapper:

Classes
class	LocalizationStatusTask

Public Member Functions
	CoreWrapper ()

virtual	~CoreWrapper ()

Public Member Functions inherited from rtabmap_sync::CommonDataSubscriber
	CommonDataSubscriber (bool gui)

int	getSyncQueueSize () const

int	getTopicQueueSize () const

bool	isApproxSync () const

bool	isDataSubscribed () const

bool	isSubscribedToDepth () const

bool	isSubscribedToOdom () const

bool	isSubscribedToOdomInfo () const

bool	isSubscribedToRGB () const

bool	isSubscribedToRGBD () const

bool	isSubscribedToScan2d () const

bool	isSubscribedToScan3d () const

bool	isSubscribedToSensorData () const

bool	isSubscribedToStereo () const

const std::string &	name () const

int	rgbdCameras () const

virtual	~CommonDataSubscriber ()

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 ()

Private Types
typedef message_filters::sync_policies::ExactTime< nav_msgs::Odometry, rtabmap_msgs::OdomInfo >	MyExactInterOdomSyncPolicy

Private Member Functions
bool	addLinkCallback (rtabmap_msgs::AddLink::Request &, rtabmap_msgs::AddLink::Response &)

bool	backupDatabaseCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	cancelGoalCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

bool	cleanupLocalGridsCallback (rtabmap_msgs::CleanupLocalGrids::Request &, rtabmap_msgs::CleanupLocalGrids::Response &)

virtual void	commonLaserScanCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const rtabmap_msgs::GlobalDescriptor &globalDescriptor=rtabmap_msgs::GlobalDescriptor())

virtual void	commonMultiCameraCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const std::vector< sensor_msgs::CameraInfo > &depthCameraInfoMsgs, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_msgs::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_msgs::GlobalDescriptor >(), const std::vector< std::vector< rtabmap_msgs::KeyPoint > > &localKeyPoints=std::vector< std::vector< rtabmap_msgs::KeyPoint > >(), const std::vector< std::vector< rtabmap_msgs::Point3f > > &localPoints3d=std::vector< std::vector< rtabmap_msgs::Point3f > >(), const std::vector< cv::Mat > &localDescriptors=std::vector< cv::Mat >())

void	commonMultiCameraCallbackImpl (const std::string &odomFrameId, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const std::vector< sensor_msgs::CameraInfo > &depthCameraInfoMsgs, const sensor_msgs::LaserScan &scan2dMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_msgs::GlobalDescriptor > &globalDescriptorMsgs, const std::vector< std::vector< rtabmap_msgs::KeyPoint > > &localKeyPoints, const std::vector< std::vector< rtabmap_msgs::Point3f > > &localPoints3d, const std::vector< cv::Mat > &localDescriptors)

virtual void	commonOdomCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg)

virtual void	commonSensorDataCallback (const rtabmap_msgs::SensorDataConstPtr &sensorDataMsg, const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg)

void	defaultCallback (const sensor_msgs::ImageConstPtr &imageMsg)

bool	detectMoreLoopClosuresCallback (rtabmap_msgs::DetectMoreLoopClosures::Request &, rtabmap_msgs::DetectMoreLoopClosures::Response &)

std::map< int, rtabmap::Transform >	filterNodesToAssemble (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &currentPose)

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

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

bool	getMapData2Callback (rtabmap_msgs::GetMap2::Request &req, rtabmap_msgs::GetMap2::Response &res)

bool	getMapDataCallback (rtabmap_msgs::GetMap::Request &req, rtabmap_msgs::GetMap::Response &res)

bool	getNodeDataCallback (rtabmap_msgs::GetNodeData::Request &req, rtabmap_msgs::GetNodeData::Response &res)

bool	getNodesInRadiusCallback (rtabmap_msgs::GetNodesInRadius::Request &, rtabmap_msgs::GetNodesInRadius::Response &)

bool	getPlanCallback (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)

bool	getPlanNodesCallback (rtabmap_msgs::GetPlan::Request &req, rtabmap_msgs::GetPlan::Response &res)

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

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

bool	globalBundleAdjustmentCallback (rtabmap_msgs::GlobalBundleAdjustment::Request &, rtabmap_msgs::GlobalBundleAdjustment::Response &)

void	globalPoseAsyncCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &globalPoseMsg)

void	goalActiveCb ()

void	goalCallback (const geometry_msgs::PoseStampedConstPtr &msg)

void	goalCommonCallback (int id, const std::string &label, const std::string &frameId, const rtabmap::Transform &pose, const ros::Time &stamp, double *planningTime=0)

void	goalDoneCb (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)

void	goalFeedbackCb (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)

void	goalNodeCallback (const rtabmap_msgs::GoalConstPtr &msg)

void	gpsFixAsyncCallback (const sensor_msgs::NavSatFixConstPtr &gpsFixMsg)

void	imuAsyncCallback (const sensor_msgs::ImuConstPtr &tagDetections)

void	initialPoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)

void	interOdomCallback (const nav_msgs::OdometryConstPtr &msg)

void	interOdomInfoCallback (const nav_msgs::OdometryConstPtr &msg1, const rtabmap_msgs::OdomInfoConstPtr &msg2)

bool	listLabelsCallback (rtabmap_msgs::ListLabels::Request &req, rtabmap_msgs::ListLabels::Response &res)

bool	loadDatabaseCallback (rtabmap_msgs::LoadDatabase::Request &, rtabmap_msgs::LoadDatabase::Response &)

void	loadParameters (const std::string &configFile, rtabmap::ParametersMap &parameters)

bool	odomTFUpdate (const ros::Time &stamp)

bool	odomUpdate (const nav_msgs::OdometryConstPtr &odomMsg, ros::Time stamp)

virtual void	onInit ()

bool	pauseRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	process (const ros::Time &stamp, rtabmap::SensorData &data, const rtabmap::Transform &odom=rtabmap::Transform(), const std::vector< float > &odomVelocity=std::vector< float >(), const std::string &odomFrameId="", const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const rtabmap::OdometryInfo &odomInfo=rtabmap::OdometryInfo(), double timeMsgConversion=0.0)

void	publishCurrentGoal (const ros::Time &stamp)

void	publishGlobalPath (const ros::Time &stamp)

void	publishLocalPath (const ros::Time &stamp)

void	publishLoop (double tfDelay, double tfTolerance)

bool	publishMapCallback (rtabmap_msgs::PublishMap::Request &, rtabmap_msgs::PublishMap::Response &)

void	publishStats (const ros::Time &stamp)

bool	removeLabelCallback (rtabmap_msgs::RemoveLabel::Request &req, rtabmap_msgs::RemoveLabel::Response &res)

void	republishMaps ()

void	republishNodeDataCallback (const std_msgs::Int32MultiArray::ConstPtr &msg)

bool	resetRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	resumeRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	saveParameters (const std::string &configFile)

bool	setGoalCallback (rtabmap_msgs::SetGoal::Request &req, rtabmap_msgs::SetGoal::Response &res)

bool	setLabelCallback (rtabmap_msgs::SetLabel::Request &req, rtabmap_msgs::SetLabel::Response &res)

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 &)

bool	setModeLocalizationCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	setModeMappingCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	triggerNewMapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	updateGoal (const ros::Time &stamp)

bool	updateRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	userDataAsyncCallback (const rtabmap_msgs::UserDataConstPtr &dataMsg)

Private Attributes
ros::ServiceServer	addLinkSrv_

bool	alreadyRectifiedImages_

ros::ServiceServer	backupDatabase_

ros::ServiceServer	cancelGoalSrv_

ros::ServiceServer	cleanupLocalGridsSrv_

std::string	configPath_

cv::Mat	covariance_

bool	createIntermediateNodes_

rtabmap::Transform	currentMetricGoal_

std::string	databasePath_

image_transport::Subscriber	defaultSub_

ros::ServiceServer	detectMoreLoopClosuresSrv_

ros::Subscriber	fiducialTransfromsSub_

std::string	frameId_

bool	genDepth_

int	genDepthDecimation_

double	genDepthFillHolesError_

int	genDepthFillHolesSize_

int	genDepthFillIterations_

bool	genScan_

double	genScanMaxDepth_

double	genScanMinDepth_

ros::ServiceServer	getGridMapSrv_

ros::ServiceServer	getMapData2Srv_

ros::ServiceServer	getMapDataSrv_

ros::ServiceServer	getMapSrv_

ros::ServiceServer	getNodeDataSrv_

ros::ServiceServer	getNodesInRadiusSrv_

ros::ServiceServer	getPlanNodesSrv_

ros::ServiceServer	getPlanSrv_

ros::ServiceServer	getProbMapSrv_

ros::ServiceServer	getProjMapSrv_

ros::ServiceServer	globalBundleAdjustmentSrv_

ros::Publisher	globalPathNodesPub_

ros::Publisher	globalPathPub_

geometry_msgs::PoseWithCovarianceStamped	globalPose_

ros::Subscriber	globalPoseAsyncSub_

std::string	goalFrameId_

ros::Subscriber	goalNodeSub_

ros::Publisher	goalReachedPub_

ros::Subscriber	goalSub_

rtabmap::GPS	gps_

ros::Subscriber	gpsFixAsyncSub_

bool	graphLatched_

std::string	groundTruthBaseFrameId_

std::string	groundTruthFrameId_

std::string	imuFrameId_

std::map< double, rtabmap::Transform >	imus_

ros::Subscriber	imuSub_

ros::Publisher	infoPub_

ros::Subscriber	initialPoseSub_

message_filters::Subscriber< rtabmap_msgs::OdomInfo >	interOdomInfoSyncSub_

std::list< std::pair< nav_msgs::Odometry, rtabmap_msgs::OdomInfo > >	interOdoms_

ros::Subscriber	interOdomSub_

message_filters::Synchronizer< MyExactInterOdomSyncPolicy > *	interOdomSync_

message_filters::Subscriber< nav_msgs::Odometry >	interOdomSyncSub_

ros::Publisher	labelsPub_

double	landmarkDefaultAngVariance_

double	landmarkDefaultLinVariance_

ros::Publisher	landmarksPub_

rtabmap::Transform	lastPose_

bool	lastPoseIntermediate_

ros::Time	lastPoseStamp_

std::vector< float >	lastPoseVelocity_

rtabmap::Transform	lastPublishedMetricGoal_

bool	latestNodeWasReached_

ros::ServiceServer	listLabelsSrv_

ros::ServiceServer	loadDatabaseSrv_

ros::Publisher	localGridEmpty_

ros::Publisher	localGridGround_

ros::Publisher	localGridObstacle_

LocalizationStatusTask	localizationDiagnostic_

ros::Publisher	localizationPosePub_

ros::Publisher	localPathNodesPub_

ros::Publisher	localPathPub_

ros::Publisher	mapDataPub_

std::string	mapFrameId_

ros::Publisher	mapGraphPub_

ros::Publisher	mapPathPub_

double	mappingAltitudeDelta_

int	mappingMaxNodes_

rtabmap_util::MapsManager	mapsManager_

rtabmap::Transform	mapToOdom_

boost::mutex	mapToOdomMutex_

MoveBaseClient *	mbClient_

ros::Publisher	nextMetricGoalPub_

ros::Publisher	odomCachePub_

double	odomDefaultAngVariance_

double	odomDefaultLinVariance_

std::string	odomFrameId_

bool	odomSensorSync_

rtabmap::ParametersMap	parameters_

bool	paused_

ros::ServiceServer	pauseSrv_

ros::Time	previousStamp_

ros::ServiceServer	publishMapDataSrv_

bool	pubLocPoseOnlyWhenLocalizing_

float	rate_

ros::ServiceServer	removeLabelSrv_

ros::Subscriber	republishNodeDataSub_

ros::ServiceServer	resetSrv_

ros::ServiceServer	resumeSrv_

rtabmap::Rtabmap	rtabmap_

std::map< std::string, float >	rtabmapROSStats_

bool	scanCloudIs2d_

int	scanCloudMaxPoints_

ros::ServiceServer	setGoalSrv_

ros::ServiceServer	setLabelSrv_

ros::ServiceServer	setLogDebugSrv_

ros::ServiceServer	setLogErrorSrv_

ros::ServiceServer	setLogInfoSrv_

ros::ServiceServer	setLogWarnSrv_

ros::ServiceServer	setModeLocalizationSrv_

ros::ServiceServer	setModeMappingSrv_

bool	stereoToDepth_

ros::Subscriber	tagDetectionsSub_

std::map< int, std::pair< geometry_msgs::PoseWithCovarianceStamped, float > >	tags_

tf2_ros::TransformBroadcaster	tfBroadcaster_

tf::TransformListener	tfListener_

bool	tfThreadRunning_

boost::thread *	transformThread_

ros::ServiceServer	triggerNewMapSrv_

bool	twoDMapping_

rtabmap_util::ULogToRosout	ulogToRosout_

ros::ServiceServer	updateSrv_

bool	useActionForGoal_

cv::Mat	userData_

ros::Subscriber	userDataAsyncSub_

UMutex	userDataMutex_

bool	useSavedMap_

bool	waitForTransform_

double	waitForTransformDuration_

Additional Inherited Members
Protected Member Functions inherited from rtabmap_sync::CommonDataSubscriber
void	commonSingleCameraCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_msgs::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &imageMsg, const cv_bridge::CvImageConstPtr &depthMsg, const sensor_msgs::CameraInfo &rgbCameraInfoMsg, const sensor_msgs::CameraInfo &depthCameraInfoMsg, const sensor_msgs::LaserScan &scanMsg, const sensor_msgs::PointCloud2 &scan3dMsg, const rtabmap_msgs::OdomInfoConstPtr &odomInfoMsg, const std::vector< rtabmap_msgs::GlobalDescriptor > &globalDescriptorMsgs=std::vector< rtabmap_msgs::GlobalDescriptor >(), const std::vector< rtabmap_msgs::KeyPoint > &localKeyPoints=std::vector< rtabmap_msgs::KeyPoint >(), const std::vector< rtabmap_msgs::Point3f > &localPoints3d=std::vector< rtabmap_msgs::Point3f >(), const cv::Mat &localDescriptors=cv::Mat())

void	setupCallbacks (ros::NodeHandle &nh, ros::NodeHandle &pnh, const std::string &name, std::vector< diagnostic_updater::DiagnosticTask * > otherTasks=std::vector< diagnostic_updater::DiagnosticTask * >())

void	tick (const ros::Time &stamp, double targetFrequency=0)

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 Attributes inherited from rtabmap_sync::CommonDataSubscriber
std::string	subscribedTopicsMsg_

int	syncQueueSize_

int	topicQueueSize_

Detailed Description

Definition at line 102 of file CoreWrapper.h.

Member Typedef Documentation

◆ MyExactInterOdomSyncPolicy

typedef message_filters::sync_policies::ExactTime<nav_msgs::Odometry, rtabmap_msgs::OdomInfo> rtabmap_slam::CoreWrapper::MyExactInterOdomSyncPolicy

private

Definition at line 392 of file CoreWrapper.h.

Constructor & Destructor Documentation

◆ CoreWrapper()

rtabmap_slam::CoreWrapper::CoreWrapper ( )

Definition at line 87 of file CoreWrapper.cpp.

◆ ~CoreWrapper()

rtabmap_slam::CoreWrapper::~CoreWrapper ( )

virtual

Definition at line 868 of file CoreWrapper.cpp.

Member Function Documentation

◆ addLinkCallback()

bool rtabmap_slam::CoreWrapper::addLinkCallback	(	rtabmap_msgs::AddLink::Request &	req,
		rtabmap_msgs::AddLink::Response &
	)

private

Definition at line 4039 of file CoreWrapper.cpp.

◆ backupDatabaseCallback()

bool rtabmap_slam::CoreWrapper::backupDatabaseCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 3027 of file CoreWrapper.cpp.

◆ cancelGoalCallback()

bool rtabmap_slam::CoreWrapper::cancelGoalCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

private

Definition at line 3954 of file CoreWrapper.cpp.

◆ cleanupLocalGridsCallback()

bool rtabmap_slam::CoreWrapper::cleanupLocalGridsCallback	(	rtabmap_msgs::CleanupLocalGrids::Request &	req,
		rtabmap_msgs::CleanupLocalGrids::Response &	res
	)

private

Definition at line 3175 of file CoreWrapper.cpp.

◆ commonLaserScanCallback()

void rtabmap_slam::CoreWrapper::commonLaserScanCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_msgs::UserDataConstPtr &	userDataMsg,
		const sensor_msgs::LaserScan &	scanMsg,
		const sensor_msgs::PointCloud2 &	scan3dMsg,
		const rtabmap_msgs::OdomInfoConstPtr &	odomInfoMsg,
		const rtabmap_msgs::GlobalDescriptor &	globalDescriptor = `rtabmap_msgs::GlobalDescriptor()`
	)

privatevirtual

Implements rtabmap_sync::CommonDataSubscriber.

Definition at line 1562 of file CoreWrapper.cpp.

◆ commonMultiCameraCallback()

void rtabmap_slam::CoreWrapper::commonMultiCameraCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_msgs::UserDataConstPtr &	userDataMsg,
		const std::vector< cv_bridge::CvImageConstPtr > &	imageMsgs,
		const std::vector< cv_bridge::CvImageConstPtr > &	depthMsgs,
		const std::vector< sensor_msgs::CameraInfo > &	cameraInfoMsgs,
		const std::vector< sensor_msgs::CameraInfo > &	depthCameraInfoMsgs,
		const sensor_msgs::LaserScan &	scanMsg,
		const sensor_msgs::PointCloud2 &	scan3dMsg,
		const rtabmap_msgs::OdomInfoConstPtr &	odomInfoMsg,
		const std::vector< rtabmap_msgs::GlobalDescriptor > &	globalDescriptorMsgs = `std::vector<rtabmap_msgs::GlobalDescriptor>()`,
		const std::vector< std::vector< rtabmap_msgs::KeyPoint > > &	localKeyPoints = `std::vector<std::vector<rtabmap_msgs::KeyPoint> >()`,
		const std::vector< std::vector< rtabmap_msgs::Point3f > > &	localPoints3d = `std::vector<std::vector<rtabmap_msgs::Point3f> >()`,
		const std::vector< cv::Mat > &	localDescriptors = `std::vector<cv::Mat>()`
	)

privatevirtual

Implements rtabmap_sync::CommonDataSubscriber.

Definition at line 1190 of file CoreWrapper.cpp.

◆ commonMultiCameraCallbackImpl()

void rtabmap_slam::CoreWrapper::commonMultiCameraCallbackImpl	(	const std::string &	odomFrameId,
		const rtabmap_msgs::UserDataConstPtr &	userDataMsg,
		const std::vector< cv_bridge::CvImageConstPtr > &	imageMsgs,
		const std::vector< cv_bridge::CvImageConstPtr > &	depthMsgs,
		const std::vector< sensor_msgs::CameraInfo > &	cameraInfoMsgs,
		const std::vector< sensor_msgs::CameraInfo > &	depthCameraInfoMsgs,
		const sensor_msgs::LaserScan &	scan2dMsg,
		const sensor_msgs::PointCloud2 &	scan3dMsg,
		const rtabmap_msgs::OdomInfoConstPtr &	odomInfoMsg,
		const std::vector< rtabmap_msgs::GlobalDescriptor > &	globalDescriptorMsgs,
		const std::vector< std::vector< rtabmap_msgs::KeyPoint > > &	localKeyPoints,
		const std::vector< std::vector< rtabmap_msgs::Point3f > > &	localPoints3d,
		const std::vector< cv::Mat > &	localDescriptors
	)

private

Definition at line 1262 of file CoreWrapper.cpp.

◆ commonOdomCallback()

void rtabmap_slam::CoreWrapper::commonOdomCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_msgs::UserDataConstPtr &	userDataMsg,
		const rtabmap_msgs::OdomInfoConstPtr &	odomInfoMsg
	)

privatevirtual

Implements rtabmap_sync::CommonDataSubscriber.

Definition at line 1700 of file CoreWrapper.cpp.

◆ commonSensorDataCallback()

void rtabmap_slam::CoreWrapper::commonSensorDataCallback	(	const rtabmap_msgs::SensorDataConstPtr &	sensorDataMsg,
		const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_msgs::OdomInfoConstPtr &	odomInfoMsg
	)

privatevirtual

Implements rtabmap_sync::CommonDataSubscriber.

Definition at line 1759 of file CoreWrapper.cpp.

◆ defaultCallback()

void rtabmap_slam::CoreWrapper::defaultCallback ( const sensor_msgs::ImageConstPtr & imageMsg )

private

Definition at line 953 of file CoreWrapper.cpp.

◆ detectMoreLoopClosuresCallback()

bool rtabmap_slam::CoreWrapper::detectMoreLoopClosuresCallback	(	rtabmap_msgs::DetectMoreLoopClosures::Request &	req,
		rtabmap_msgs::DetectMoreLoopClosures::Response &	res
	)

private

Definition at line 3107 of file CoreWrapper.cpp.

◆ filterNodesToAssemble()

std::map< int, Transform > rtabmap_slam::CoreWrapper::filterNodesToAssemble	(	const std::map< int, rtabmap::Transform > &	nodes,
		const rtabmap::Transform &	currentPose
	)

private

Definition at line 2319 of file CoreWrapper.cpp.

◆ getGridMapCallback()

bool rtabmap_slam::CoreWrapper::getGridMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

private

Definition at line 3440 of file CoreWrapper.cpp.

◆ getMapCallback()

bool rtabmap_slam::CoreWrapper::getMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

private

Definition at line 3446 of file CoreWrapper.cpp.

◆ getMapData2Callback()

bool rtabmap_slam::CoreWrapper::getMapData2Callback	(	rtabmap_msgs::GetMap2::Request &	req,
		rtabmap_msgs::GetMap2::Response &	res
	)

private

Definition at line 3383 of file CoreWrapper.cpp.

◆ getMapDataCallback()

bool rtabmap_slam::CoreWrapper::getMapDataCallback	(	rtabmap_msgs::GetMap::Request &	req,
		rtabmap_msgs::GetMap::Response &	res
	)

private

Definition at line 3349 of file CoreWrapper.cpp.

◆ getNodeDataCallback()

bool rtabmap_slam::CoreWrapper::getNodeDataCallback	(	rtabmap_msgs::GetNodeData::Request &	req,
		rtabmap_msgs::GetNodeData::Response &	res
	)

private

Definition at line 3320 of file CoreWrapper.cpp.

◆ getNodesInRadiusCallback()

bool rtabmap_slam::CoreWrapper::getNodesInRadiusCallback	(	rtabmap_msgs::GetNodesInRadius::Request &	req,
		rtabmap_msgs::GetNodesInRadius::Response &	res
	)

private

Definition at line 4050 of file CoreWrapper.cpp.

◆ getPlanCallback()

bool rtabmap_slam::CoreWrapper::getPlanCallback	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	res
	)

private

Definition at line 3775 of file CoreWrapper.cpp.

◆ getPlanNodesCallback()

bool rtabmap_slam::CoreWrapper::getPlanNodesCallback	(	rtabmap_msgs::GetPlan::Request &	req,
		rtabmap_msgs::GetPlan::Response &	res
	)

private

Definition at line 3849 of file CoreWrapper.cpp.

◆ getProbMapCallback()

bool rtabmap_slam::CoreWrapper::getProbMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

private

Definition at line 3487 of file CoreWrapper.cpp.

◆ getProjMapCallback()

bool rtabmap_slam::CoreWrapper::getProjMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

private

Definition at line 3422 of file CoreWrapper.cpp.

◆ globalBundleAdjustmentCallback()

bool rtabmap_slam::CoreWrapper::globalBundleAdjustmentCallback	(	rtabmap_msgs::GlobalBundleAdjustment::Request &	req,
		rtabmap_msgs::GlobalBundleAdjustment::Response &	res
	)

private

Definition at line 3225 of file CoreWrapper.cpp.

◆ globalPoseAsyncCallback()

void rtabmap_slam::CoreWrapper::globalPoseAsyncCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg )

private

Definition at line 2368 of file CoreWrapper.cpp.

◆ goalActiveCb()

void rtabmap_slam::CoreWrapper::goalActiveCb ( )

private

Definition at line 4451 of file CoreWrapper.cpp.

◆ goalCallback()

void rtabmap_slam::CoreWrapper::goalCallback ( const geometry_msgs::PoseStampedConstPtr & msg )

private

Definition at line 2713 of file CoreWrapper.cpp.

◆ goalCommonCallback()

void rtabmap_slam::CoreWrapper::goalCommonCallback	(	int	id,
		const std::string &	label,
		const std::string &	frameId,
		const rtabmap::Transform &	pose,
		const ros::Time &	stamp,
		double *	planningTime = `0`
	)

private

Definition at line 2566 of file CoreWrapper.cpp.

◆ goalDoneCb()

void rtabmap_slam::CoreWrapper::goalDoneCb	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)

private

Definition at line 4405 of file CoreWrapper.cpp.

◆ goalFeedbackCb()

void rtabmap_slam::CoreWrapper::goalFeedbackCb ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback )

private

Definition at line 4457 of file CoreWrapper.cpp.

◆ goalNodeCallback()

void rtabmap_slam::CoreWrapper::goalNodeCallback ( const rtabmap_msgs::GoalConstPtr & msg )

private

Definition at line 2740 of file CoreWrapper.cpp.

◆ gpsFixAsyncCallback()

void rtabmap_slam::CoreWrapper::gpsFixAsyncCallback ( const sensor_msgs::NavSatFixConstPtr & gpsFixMsg )

private

Definition at line 2376 of file CoreWrapper.cpp.

◆ imuAsyncCallback()

void rtabmap_slam::CoreWrapper::imuAsyncCallback ( const sensor_msgs::ImuConstPtr & tagDetections )

private

Definition at line 2470 of file CoreWrapper.cpp.

◆ initialPoseCallback()

void rtabmap_slam::CoreWrapper::initialPoseCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg )

private

Definition at line 2527 of file CoreWrapper.cpp.

◆ interOdomCallback()

void rtabmap_slam::CoreWrapper::interOdomCallback ( const nav_msgs::OdometryConstPtr & msg )

private

Definition at line 2510 of file CoreWrapper.cpp.

◆ interOdomInfoCallback()

void rtabmap_slam::CoreWrapper::interOdomInfoCallback	(	const nav_msgs::OdometryConstPtr &	msg1,
		const rtabmap_msgs::OdomInfoConstPtr &	msg2
	)

private

Definition at line 2518 of file CoreWrapper.cpp.

◆ listLabelsCallback()

bool rtabmap_slam::CoreWrapper::listLabelsCallback	(	rtabmap_msgs::ListLabels::Request &	req,
		rtabmap_msgs::ListLabels::Response &	res
	)

private

Definition at line 4006 of file CoreWrapper.cpp.

◆ loadDatabaseCallback()

bool rtabmap_slam::CoreWrapper::loadDatabaseCallback	(	rtabmap_msgs::LoadDatabase::Request &	req,
		rtabmap_msgs::LoadDatabase::Response &
	)

private

Definition at line 2886 of file CoreWrapper.cpp.

◆ loadParameters()

void rtabmap_slam::CoreWrapper::loadParameters	(	const std::string &	configFile,
		rtabmap::ParametersMap &	parameters
	)

private

Definition at line 899 of file CoreWrapper.cpp.

◆ odomTFUpdate()

bool rtabmap_slam::CoreWrapper::odomTFUpdate ( const ros::Time & stamp )

private

Definition at line 1133 of file CoreWrapper.cpp.

◆ odomUpdate()

bool rtabmap_slam::CoreWrapper::odomUpdate	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		ros::Time	stamp
	)

private

Definition at line 1022 of file CoreWrapper.cpp.

◆ onInit()

void rtabmap_slam::CoreWrapper::onInit ( )

privatevirtual

Implements nodelet::Nodelet.

Definition at line 140 of file CoreWrapper.cpp.

◆ pauseRtabmapCallback()

bool rtabmap_slam::CoreWrapper::pauseRtabmapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 2856 of file CoreWrapper.cpp.

◆ process()

void rtabmap_slam::CoreWrapper::process	(	const ros::Time &	stamp,
		rtabmap::SensorData &	data,
		const rtabmap::Transform &	odom = `rtabmap::Transform()`,
		const std::vector< float > &	odomVelocity = `std::vector<float>()`,
		const std::string &	odomFrameId = `""`,
		const cv::Mat &	odomCovariance = `cv::Mat::eye(6,6,CV_64FC1)`,
		const rtabmap::OdometryInfo &	odomInfo = `rtabmap::OdometryInfo()`,
		double	timeMsgConversion = `0.0`
	)

private

Definition at line 1801 of file CoreWrapper.cpp.

◆ publishCurrentGoal()

void rtabmap_slam::CoreWrapper::publishCurrentGoal ( const ros::Time & stamp )

private

Definition at line 4354 of file CoreWrapper.cpp.

◆ publishGlobalPath()

void rtabmap_slam::CoreWrapper::publishGlobalPath ( const ros::Time & stamp )

private

Definition at line 4501 of file CoreWrapper.cpp.

◆ publishLocalPath()

void rtabmap_slam::CoreWrapper::publishLocalPath ( const ros::Time & stamp )

private

Definition at line 4463 of file CoreWrapper.cpp.

◆ publishLoop()

void rtabmap_slam::CoreWrapper::publishLoop	(	double	tfDelay,
		double	tfTolerance
	)

private

Definition at line 930 of file CoreWrapper.cpp.

◆ publishMapCallback()

bool rtabmap_slam::CoreWrapper::publishMapCallback	(	rtabmap_msgs::PublishMap::Request &	req,
		rtabmap_msgs::PublishMap::Response &	res
	)

private

Definition at line 3528 of file CoreWrapper.cpp.

◆ publishStats()

void rtabmap_slam::CoreWrapper::publishStats ( const ros::Time & stamp )

private

Definition at line 4083 of file CoreWrapper.cpp.

◆ removeLabelCallback()

bool rtabmap_slam::CoreWrapper::removeLabelCallback	(	rtabmap_msgs::RemoveLabel::Request &	req,
		rtabmap_msgs::RemoveLabel::Response &	res
	)

private

Definition at line 4018 of file CoreWrapper.cpp.

◆ republishMaps()

void rtabmap_slam::CoreWrapper::republishMaps ( )

private

Definition at line 3070 of file CoreWrapper.cpp.

◆ republishNodeDataCallback()

void rtabmap_slam::CoreWrapper::republishNodeDataCallback ( const std_msgs::Int32MultiArray::ConstPtr & msg )

private

Definition at line 2505 of file CoreWrapper.cpp.

◆ resetRtabmapCallback()

bool rtabmap_slam::CoreWrapper::resetRtabmapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 2825 of file CoreWrapper.cpp.

◆ resumeRtabmapCallback()

bool rtabmap_slam::CoreWrapper::resumeRtabmapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 2871 of file CoreWrapper.cpp.

◆ saveParameters()

void rtabmap_slam::CoreWrapper::saveParameters ( const std::string & configFile )

private

Definition at line 912 of file CoreWrapper.cpp.

◆ setGoalCallback()

bool rtabmap_slam::CoreWrapper::setGoalCallback	(	rtabmap_msgs::SetGoal::Request &	req,
		rtabmap_msgs::SetGoal::Response &	res
	)

private

Definition at line 3938 of file CoreWrapper.cpp.

◆ setLabelCallback()

bool rtabmap_slam::CoreWrapper::setLabelCallback	(	rtabmap_msgs::SetLabel::Request &	req,
		rtabmap_msgs::SetLabel::Response &	res
	)

private

Definition at line 3979 of file CoreWrapper.cpp.

◆ setLogDebug()

bool rtabmap_slam::CoreWrapper::setLogDebug	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 3295 of file CoreWrapper.cpp.

◆ setLogError()

bool rtabmap_slam::CoreWrapper::setLogError	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 3313 of file CoreWrapper.cpp.

◆ setLogInfo()

bool rtabmap_slam::CoreWrapper::setLogInfo	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 3301 of file CoreWrapper.cpp.

◆ setLogWarn()

bool rtabmap_slam::CoreWrapper::setLogWarn	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 3307 of file CoreWrapper.cpp.

◆ setModeLocalizationCallback()

bool rtabmap_slam::CoreWrapper::setModeLocalizationCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 3271 of file CoreWrapper.cpp.

◆ setModeMappingCallback()

bool rtabmap_slam::CoreWrapper::setModeMappingCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 3283 of file CoreWrapper.cpp.

◆ triggerNewMapCallback()

bool rtabmap_slam::CoreWrapper::triggerNewMapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 3020 of file CoreWrapper.cpp.

◆ updateGoal()

void rtabmap_slam::CoreWrapper::updateGoal ( const ros::Time & stamp )

private

◆ updateRtabmapCallback()

bool rtabmap_slam::CoreWrapper::updateRtabmapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 2756 of file CoreWrapper.cpp.

◆ userDataAsyncCallback()

void rtabmap_slam::CoreWrapper::userDataAsyncCallback ( const rtabmap_msgs::UserDataConstPtr & dataMsg )

private

Definition at line 2349 of file CoreWrapper.cpp.

Member Data Documentation

◆ addLinkSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::addLinkSrv_

private

Definition at line 357 of file CoreWrapper.h.

◆ alreadyRectifiedImages_

bool rtabmap_slam::CoreWrapper::alreadyRectifiedImages_

private

Definition at line 401 of file CoreWrapper.h.

◆ backupDatabase_

ros::ServiceServer rtabmap_slam::CoreWrapper::backupDatabase_

private

Definition at line 332 of file CoreWrapper.h.

◆ cancelGoalSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::cancelGoalSrv_

private

Definition at line 353 of file CoreWrapper.h.

◆ cleanupLocalGridsSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::cleanupLocalGridsSrv_

private

Definition at line 335 of file CoreWrapper.h.

◆ configPath_

std::string rtabmap_slam::CoreWrapper::configPath_

private

Definition at line 273 of file CoreWrapper.h.

◆ covariance_

cv::Mat rtabmap_slam::CoreWrapper::covariance_

private

Definition at line 259 of file CoreWrapper.h.

◆ createIntermediateNodes_

bool rtabmap_slam::CoreWrapper::createIntermediateNodes_

private

Definition at line 398 of file CoreWrapper.h.

◆ currentMetricGoal_

rtabmap::Transform rtabmap_slam::CoreWrapper::currentMetricGoal_

private

Definition at line 260 of file CoreWrapper.h.

◆ databasePath_

std::string rtabmap_slam::CoreWrapper::databasePath_

private

Definition at line 274 of file CoreWrapper.h.

◆ defaultSub_

image_transport::Subscriber rtabmap_slam::CoreWrapper::defaultSub_

private

Definition at line 370 of file CoreWrapper.h.

◆ detectMoreLoopClosuresSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::detectMoreLoopClosuresSrv_

private

Definition at line 333 of file CoreWrapper.h.

◆ fiducialTransfromsSub_

ros::Subscriber rtabmap_slam::CoreWrapper::fiducialTransfromsSub_

private

Definition at line 381 of file CoreWrapper.h.

◆ frameId_

std::string rtabmap_slam::CoreWrapper::frameId_

private

Definition at line 268 of file CoreWrapper.h.

◆ genDepth_

bool rtabmap_slam::CoreWrapper::genDepth_

private

Definition at line 286 of file CoreWrapper.h.

◆ genDepthDecimation_

int rtabmap_slam::CoreWrapper::genDepthDecimation_

private

Definition at line 287 of file CoreWrapper.h.

◆ genDepthFillHolesError_

double rtabmap_slam::CoreWrapper::genDepthFillHolesError_

private

Definition at line 290 of file CoreWrapper.h.

◆ genDepthFillHolesSize_

int rtabmap_slam::CoreWrapper::genDepthFillHolesSize_

private

Definition at line 288 of file CoreWrapper.h.

◆ genDepthFillIterations_

int rtabmap_slam::CoreWrapper::genDepthFillIterations_

private

Definition at line 289 of file CoreWrapper.h.

◆ genScan_

bool rtabmap_slam::CoreWrapper::genScan_

private

Definition at line 283 of file CoreWrapper.h.

◆ genScanMaxDepth_

double rtabmap_slam::CoreWrapper::genScanMaxDepth_

private

Definition at line 284 of file CoreWrapper.h.

◆ genScanMinDepth_

double rtabmap_slam::CoreWrapper::genScanMinDepth_

private

Definition at line 285 of file CoreWrapper.h.

◆ getGridMapSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getGridMapSrv_

private

Definition at line 348 of file CoreWrapper.h.

◆ getMapData2Srv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getMapData2Srv_

private

Definition at line 344 of file CoreWrapper.h.

◆ getMapDataSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getMapDataSrv_

private

Definition at line 343 of file CoreWrapper.h.

◆ getMapSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getMapSrv_

private

Definition at line 346 of file CoreWrapper.h.

◆ getNodeDataSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getNodeDataSrv_

private

Definition at line 342 of file CoreWrapper.h.

◆ getNodesInRadiusSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getNodesInRadiusSrv_

private

Definition at line 358 of file CoreWrapper.h.

◆ getPlanNodesSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getPlanNodesSrv_

private

Definition at line 351 of file CoreWrapper.h.

◆ getPlanSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getPlanSrv_

private

Definition at line 350 of file CoreWrapper.h.

◆ getProbMapSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getProbMapSrv_

private

Definition at line 347 of file CoreWrapper.h.

◆ getProjMapSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::getProjMapSrv_

private

Definition at line 345 of file CoreWrapper.h.

◆ globalBundleAdjustmentSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::globalBundleAdjustmentSrv_

private

Definition at line 334 of file CoreWrapper.h.

◆ globalPathNodesPub_

ros::Publisher rtabmap_slam::CoreWrapper::globalPathNodesPub_

private

Definition at line 319 of file CoreWrapper.h.

◆ globalPathPub_

ros::Publisher rtabmap_slam::CoreWrapper::globalPathPub_

private

Definition at line 317 of file CoreWrapper.h.

◆ globalPose_

geometry_msgs::PoseWithCovarianceStamped rtabmap_slam::CoreWrapper::globalPose_

private

Definition at line 377 of file CoreWrapper.h.

◆ globalPoseAsyncSub_

ros::Subscriber rtabmap_slam::CoreWrapper::globalPoseAsyncSub_

private

Definition at line 376 of file CoreWrapper.h.

◆ goalFrameId_

std::string rtabmap_slam::CoreWrapper::goalFrameId_

private

Definition at line 321 of file CoreWrapper.h.

◆ goalNodeSub_

ros::Subscriber rtabmap_slam::CoreWrapper::goalNodeSub_

private

Definition at line 314 of file CoreWrapper.h.

◆ goalReachedPub_

ros::Publisher rtabmap_slam::CoreWrapper::goalReachedPub_

private

Definition at line 316 of file CoreWrapper.h.

◆ goalSub_

ros::Subscriber rtabmap_slam::CoreWrapper::goalSub_

private

Definition at line 313 of file CoreWrapper.h.

◆ gps_

rtabmap::GPS rtabmap_slam::CoreWrapper::gps_

private

Definition at line 379 of file CoreWrapper.h.

◆ gpsFixAsyncSub_

ros::Subscriber rtabmap_slam::CoreWrapper::gpsFixAsyncSub_

private

Definition at line 378 of file CoreWrapper.h.

◆ graphLatched_

bool rtabmap_slam::CoreWrapper::graphLatched_

private

Definition at line 264 of file CoreWrapper.h.

◆ groundTruthBaseFrameId_

std::string rtabmap_slam::CoreWrapper::groundTruthBaseFrameId_

private

Definition at line 272 of file CoreWrapper.h.

◆ groundTruthFrameId_

std::string rtabmap_slam::CoreWrapper::groundTruthFrameId_

private

Definition at line 271 of file CoreWrapper.h.

◆ imuFrameId_

std::string rtabmap_slam::CoreWrapper::imuFrameId_

private

Definition at line 385 of file CoreWrapper.h.

◆ imus_

std::map<double, rtabmap::Transform> rtabmap_slam::CoreWrapper::imus_

private

Definition at line 384 of file CoreWrapper.h.

◆ imuSub_

ros::Subscriber rtabmap_slam::CoreWrapper::imuSub_

private

Definition at line 383 of file CoreWrapper.h.

◆ infoPub_

ros::Publisher rtabmap_slam::CoreWrapper::infoPub_

private

Definition at line 299 of file CoreWrapper.h.

◆ initialPoseSub_

ros::Subscriber rtabmap_slam::CoreWrapper::initialPoseSub_

private

Definition at line 310 of file CoreWrapper.h.

◆ interOdomInfoSyncSub_

message_filters::Subscriber<rtabmap_msgs::OdomInfo> rtabmap_slam::CoreWrapper::interOdomInfoSyncSub_

private

Definition at line 391 of file CoreWrapper.h.

◆ interOdoms_

std::list<std::pair<nav_msgs::Odometry, rtabmap_msgs::OdomInfo> > rtabmap_slam::CoreWrapper::interOdoms_

private

Definition at line 389 of file CoreWrapper.h.

◆ interOdomSub_

ros::Subscriber rtabmap_slam::CoreWrapper::interOdomSub_

private

Definition at line 388 of file CoreWrapper.h.

◆ interOdomSync_

message_filters::Synchronizer<MyExactInterOdomSyncPolicy>* rtabmap_slam::CoreWrapper::interOdomSync_

private

Definition at line 393 of file CoreWrapper.h.

◆ interOdomSyncSub_

message_filters::Subscriber<nav_msgs::Odometry> rtabmap_slam::CoreWrapper::interOdomSyncSub_

private

Definition at line 390 of file CoreWrapper.h.

◆ labelsPub_

ros::Publisher rtabmap_slam::CoreWrapper::labelsPub_

private

Definition at line 304 of file CoreWrapper.h.

◆ landmarkDefaultAngVariance_

double rtabmap_slam::CoreWrapper::landmarkDefaultAngVariance_

private

Definition at line 277 of file CoreWrapper.h.

◆ landmarkDefaultLinVariance_

double rtabmap_slam::CoreWrapper::landmarkDefaultLinVariance_

private

Definition at line 278 of file CoreWrapper.h.

◆ landmarksPub_

ros::Publisher rtabmap_slam::CoreWrapper::landmarksPub_

private

Definition at line 303 of file CoreWrapper.h.

◆ lastPose_

rtabmap::Transform rtabmap_slam::CoreWrapper::lastPose_

private

Definition at line 255 of file CoreWrapper.h.

◆ lastPoseIntermediate_

bool rtabmap_slam::CoreWrapper::lastPoseIntermediate_

private

Definition at line 258 of file CoreWrapper.h.

◆ lastPoseStamp_

ros::Time rtabmap_slam::CoreWrapper::lastPoseStamp_

private

Definition at line 256 of file CoreWrapper.h.

◆ lastPoseVelocity_

std::vector<float> rtabmap_slam::CoreWrapper::lastPoseVelocity_

private

Definition at line 257 of file CoreWrapper.h.

◆ lastPublishedMetricGoal_

rtabmap::Transform rtabmap_slam::CoreWrapper::lastPublishedMetricGoal_

private

Definition at line 261 of file CoreWrapper.h.

◆ latestNodeWasReached_

bool rtabmap_slam::CoreWrapper::latestNodeWasReached_

private

Definition at line 262 of file CoreWrapper.h.

◆ listLabelsSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::listLabelsSrv_

private

Definition at line 355 of file CoreWrapper.h.

◆ loadDatabaseSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::loadDatabaseSrv_

private

Definition at line 330 of file CoreWrapper.h.

◆ localGridEmpty_

ros::Publisher rtabmap_slam::CoreWrapper::localGridEmpty_

private

Definition at line 307 of file CoreWrapper.h.

◆ localGridGround_

ros::Publisher rtabmap_slam::CoreWrapper::localGridGround_

private

Definition at line 308 of file CoreWrapper.h.

◆ localGridObstacle_

ros::Publisher rtabmap_slam::CoreWrapper::localGridObstacle_

private

Definition at line 306 of file CoreWrapper.h.

◆ localizationDiagnostic_

LocalizationStatusTask rtabmap_slam::CoreWrapper::localizationDiagnostic_

private

Definition at line 418 of file CoreWrapper.h.

◆ localizationPosePub_

ros::Publisher rtabmap_slam::CoreWrapper::localizationPosePub_

private

Definition at line 309 of file CoreWrapper.h.

◆ localPathNodesPub_

ros::Publisher rtabmap_slam::CoreWrapper::localPathNodesPub_

private

Definition at line 320 of file CoreWrapper.h.

◆ localPathPub_

ros::Publisher rtabmap_slam::CoreWrapper::localPathPub_

private

Definition at line 318 of file CoreWrapper.h.

◆ mapDataPub_

ros::Publisher rtabmap_slam::CoreWrapper::mapDataPub_

private

Definition at line 300 of file CoreWrapper.h.

◆ mapFrameId_

std::string rtabmap_slam::CoreWrapper::mapFrameId_

private

Definition at line 270 of file CoreWrapper.h.

◆ mapGraphPub_

ros::Publisher rtabmap_slam::CoreWrapper::mapGraphPub_

private

Definition at line 301 of file CoreWrapper.h.

◆ mapPathPub_

ros::Publisher rtabmap_slam::CoreWrapper::mapPathPub_

private

Definition at line 305 of file CoreWrapper.h.

◆ mappingAltitudeDelta_

double rtabmap_slam::CoreWrapper::mappingAltitudeDelta_

private

Definition at line 400 of file CoreWrapper.h.

◆ mappingMaxNodes_

int rtabmap_slam::CoreWrapper::mappingMaxNodes_

private

Definition at line 399 of file CoreWrapper.h.

◆ mapsManager_

rtabmap_util::MapsManager rtabmap_slam::CoreWrapper::mapsManager_

private

Definition at line 297 of file CoreWrapper.h.

◆ mapToOdom_

rtabmap::Transform rtabmap_slam::CoreWrapper::mapToOdom_

private

Definition at line 294 of file CoreWrapper.h.

◆ mapToOdomMutex_

boost::mutex rtabmap_slam::CoreWrapper::mapToOdomMutex_

private

Definition at line 295 of file CoreWrapper.h.

◆ mbClient_

MoveBaseClient* rtabmap_slam::CoreWrapper::mbClient_

private

Definition at line 364 of file CoreWrapper.h.

◆ nextMetricGoalPub_

ros::Publisher rtabmap_slam::CoreWrapper::nextMetricGoalPub_

private

Definition at line 315 of file CoreWrapper.h.

◆ odomCachePub_

ros::Publisher rtabmap_slam::CoreWrapper::odomCachePub_

private

Definition at line 302 of file CoreWrapper.h.

◆ odomDefaultAngVariance_

double rtabmap_slam::CoreWrapper::odomDefaultAngVariance_

private

Definition at line 275 of file CoreWrapper.h.

◆ odomDefaultLinVariance_

double rtabmap_slam::CoreWrapper::odomDefaultLinVariance_

private

Definition at line 276 of file CoreWrapper.h.

◆ odomFrameId_

std::string rtabmap_slam::CoreWrapper::odomFrameId_

private

Definition at line 269 of file CoreWrapper.h.

◆ odomSensorSync_

bool rtabmap_slam::CoreWrapper::odomSensorSync_

private

Definition at line 396 of file CoreWrapper.h.

◆ parameters_

rtabmap::ParametersMap rtabmap_slam::CoreWrapper::parameters_

private

Definition at line 265 of file CoreWrapper.h.

◆ paused_

bool rtabmap_slam::CoreWrapper::paused_

private

Definition at line 254 of file CoreWrapper.h.

◆ pauseSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::pauseSrv_

private

Definition at line 328 of file CoreWrapper.h.

◆ previousStamp_

ros::Time rtabmap_slam::CoreWrapper::previousStamp_

private

Definition at line 403 of file CoreWrapper.h.

◆ publishMapDataSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::publishMapDataSrv_

private

Definition at line 349 of file CoreWrapper.h.

◆ pubLocPoseOnlyWhenLocalizing_

bool rtabmap_slam::CoreWrapper::pubLocPoseOnlyWhenLocalizing_

private

Definition at line 263 of file CoreWrapper.h.

◆ rate_

float rtabmap_slam::CoreWrapper::rate_

private

Definition at line 397 of file CoreWrapper.h.

◆ removeLabelSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::removeLabelSrv_

private

Definition at line 356 of file CoreWrapper.h.

◆ republishNodeDataSub_

ros::Subscriber rtabmap_slam::CoreWrapper::republishNodeDataSub_

private

Definition at line 386 of file CoreWrapper.h.

◆ resetSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::resetSrv_

private

Definition at line 327 of file CoreWrapper.h.

◆ resumeSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::resumeSrv_

private

Definition at line 329 of file CoreWrapper.h.

◆ rtabmap_

rtabmap::Rtabmap rtabmap_slam::CoreWrapper::rtabmap_

private

Definition at line 253 of file CoreWrapper.h.

◆ rtabmapROSStats_

std::map<std::string, float> rtabmap_slam::CoreWrapper::rtabmapROSStats_

private

Definition at line 266 of file CoreWrapper.h.

◆ scanCloudIs2d_

bool rtabmap_slam::CoreWrapper::scanCloudIs2d_

private

Definition at line 292 of file CoreWrapper.h.

◆ scanCloudMaxPoints_

int rtabmap_slam::CoreWrapper::scanCloudMaxPoints_

private

Definition at line 291 of file CoreWrapper.h.

◆ setGoalSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::setGoalSrv_

private

Definition at line 352 of file CoreWrapper.h.

◆ setLabelSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::setLabelSrv_

private

Definition at line 354 of file CoreWrapper.h.

◆ setLogDebugSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::setLogDebugSrv_

private

Definition at line 338 of file CoreWrapper.h.

◆ setLogErrorSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::setLogErrorSrv_

private

Definition at line 341 of file CoreWrapper.h.

◆ setLogInfoSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::setLogInfoSrv_

private

Definition at line 339 of file CoreWrapper.h.

◆ setLogWarnSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::setLogWarnSrv_

private

Definition at line 340 of file CoreWrapper.h.

◆ setModeLocalizationSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::setModeLocalizationSrv_

private

Definition at line 336 of file CoreWrapper.h.

◆ setModeMappingSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::setModeMappingSrv_

private

Definition at line 337 of file CoreWrapper.h.

◆ stereoToDepth_

bool rtabmap_slam::CoreWrapper::stereoToDepth_

private

Definition at line 395 of file CoreWrapper.h.

◆ tagDetectionsSub_

ros::Subscriber rtabmap_slam::CoreWrapper::tagDetectionsSub_

private

Definition at line 380 of file CoreWrapper.h.

◆ tags_

std::map<int, std::pair<geometry_msgs::PoseWithCovarianceStamped, float> > rtabmap_slam::CoreWrapper::tags_

private

Definition at line 382 of file CoreWrapper.h.

◆ tfBroadcaster_

tf2_ros::TransformBroadcaster rtabmap_slam::CoreWrapper::tfBroadcaster_

private

Definition at line 323 of file CoreWrapper.h.

◆ tfListener_

tf::TransformListener rtabmap_slam::CoreWrapper::tfListener_

private

Definition at line 324 of file CoreWrapper.h.

◆ tfThreadRunning_

bool rtabmap_slam::CoreWrapper::tfThreadRunning_

private

Definition at line 367 of file CoreWrapper.h.

◆ transformThread_

boost::thread* rtabmap_slam::CoreWrapper::transformThread_

private

Definition at line 366 of file CoreWrapper.h.

◆ triggerNewMapSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::triggerNewMapSrv_

private

Definition at line 331 of file CoreWrapper.h.

◆ twoDMapping_

bool rtabmap_slam::CoreWrapper::twoDMapping_

private

Definition at line 402 of file CoreWrapper.h.

◆ ulogToRosout_

rtabmap_util::ULogToRosout rtabmap_slam::CoreWrapper::ulogToRosout_

private

Definition at line 405 of file CoreWrapper.h.

◆ updateSrv_

ros::ServiceServer rtabmap_slam::CoreWrapper::updateSrv_

private

Definition at line 326 of file CoreWrapper.h.

◆ useActionForGoal_

bool rtabmap_slam::CoreWrapper::useActionForGoal_

private

Definition at line 281 of file CoreWrapper.h.

◆ userData_

cv::Mat rtabmap_slam::CoreWrapper::userData_

private

Definition at line 373 of file CoreWrapper.h.

◆ userDataAsyncSub_

ros::Subscriber rtabmap_slam::CoreWrapper::userDataAsyncSub_

private

Definition at line 372 of file CoreWrapper.h.

◆ userDataMutex_

UMutex rtabmap_slam::CoreWrapper::userDataMutex_

private

Definition at line 374 of file CoreWrapper.h.

◆ useSavedMap_

bool rtabmap_slam::CoreWrapper::useSavedMap_

private

Definition at line 282 of file CoreWrapper.h.

◆ waitForTransform_

bool rtabmap_slam::CoreWrapper::waitForTransform_

private

Definition at line 279 of file CoreWrapper.h.

◆ waitForTransformDuration_

double rtabmap_slam::CoreWrapper::waitForTransformDuration_

private

Definition at line 280 of file CoreWrapper.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MyExactInterOdomSyncPolicy

Constructor & Destructor Documentation

◆ CoreWrapper()

◆ ~CoreWrapper()

Member Function Documentation

◆ addLinkCallback()

◆ backupDatabaseCallback()

◆ cancelGoalCallback()

◆ cleanupLocalGridsCallback()

◆ commonLaserScanCallback()

◆ commonMultiCameraCallback()

◆ commonMultiCameraCallbackImpl()

◆ commonOdomCallback()

◆ commonSensorDataCallback()

◆ defaultCallback()

◆ detectMoreLoopClosuresCallback()

◆ filterNodesToAssemble()

◆ getGridMapCallback()

◆ getMapCallback()

◆ getMapData2Callback()

◆ getMapDataCallback()

◆ getNodeDataCallback()

◆ getNodesInRadiusCallback()

◆ getPlanCallback()

◆ getPlanNodesCallback()

◆ getProbMapCallback()

◆ getProjMapCallback()

◆ globalBundleAdjustmentCallback()

◆ globalPoseAsyncCallback()

◆ goalActiveCb()

◆ goalCallback()

◆ goalCommonCallback()

◆ goalDoneCb()

◆ goalFeedbackCb()

◆ goalNodeCallback()

◆ gpsFixAsyncCallback()

◆ imuAsyncCallback()

◆ initialPoseCallback()

◆ interOdomCallback()

◆ interOdomInfoCallback()

◆ listLabelsCallback()

◆ loadDatabaseCallback()

◆ loadParameters()

◆ odomTFUpdate()

◆ odomUpdate()

◆ onInit()

◆ pauseRtabmapCallback()

◆ process()

◆ publishCurrentGoal()

◆ publishGlobalPath()

◆ publishLocalPath()

◆ publishLoop()

◆ publishMapCallback()

◆ publishStats()

◆ removeLabelCallback()

◆ republishMaps()

◆ republishNodeDataCallback()

◆ resetRtabmapCallback()

◆ resumeRtabmapCallback()

◆ saveParameters()

◆ setGoalCallback()

◆ setLabelCallback()

◆ setLogDebug()

◆ setLogError()

◆ setLogInfo()

◆ setLogWarn()

◆ setModeLocalizationCallback()

◆ setModeMappingCallback()

◆ triggerNewMapCallback()

◆ updateGoal()

◆ updateRtabmapCallback()

◆ userDataAsyncCallback()