#include <flirtlib_ros/localization_monitor.h>#include <flirtlib_ros/conversions.h>#include <flirtlib_ros/common.h>#include <flirtlib_ros/ExecutiveState.h>#include <boost/thread.hpp>#include <ros/ros.h>#include <tf/transform_listener.h>#include <tf/exceptions.h>#include <geometry_msgs/PoseArray.h>#include <geometry_msgs/PoseWithCovarianceStamped.h>#include <mongo_ros/message_collection.h>#include <visualization_msgs/Marker.h>#include <move_base_msgs/MoveBaseActionResult.h>#include <std_srvs/Empty.h>
Include dependency graph for localization_monitor_node.cpp:
Go to the source code of this file.
Classes | |
| class | flirtlib_ros::Node |
Namespaces | |
| namespace | flirtlib_ros |
Typedefs | |
| typedef std::pair < InterestPoint *, InterestPoint * > | flirtlib_ros::Correspondence |
| typedef vector< Correspondence > | flirtlib_ros::Correspondences |
| typedef mr::MessageWithMetadata < RefScanRos >::ConstPtr | flirtlib_ros::DBScan |
| typedef mr::MessageWithMetadata < nm::OccupancyGrid > | flirtlib_ros::MapWithMetadata |
| typedef vector< RefScan > | flirtlib_ros::RefScans |
Functions | |
| unsigned | flirtlib_ros::getSum (const nm::OccupancyGrid &g) |
| This is sort of like a hash for the map. | |
| int | main (int argc, char **argv) |
Detailed Description
Ros node that updates and localizes using a set of saved scans. The idea is that you can run this all the time in the background, and it will both do startup localization, and update itself over time as the map changes.
Requires:
- The nav stack (amcl, move_base, map_server) to be running
- Incoming laser scans on base_scan topic
- A running mongodb instance on the given host.
- Either the given database must be empty, or it must have previously been used with the same occupancy grid that is currently being published by the nav stack.
Provides
- Will publish a pose on initialpose, if it decides the robot is poorly localized and it finds a good match among the saved scans.
- Visualization of interest point, reference scan locations
- Saves new scans to the db; tries to cover x-y-theta space with scans.
- Executive state published at 1hz on startup_loc_state
- ~reset_state service to reset to the state upon startup
Parameters:
- min_num_matches: #feature matches required for a succesful scan match.
- min_successful_navs: Number of succesful navigations that must be observed before we start saving scans. Defaults to 1.
- db_name: Name of database. Defaults to flirtlib_place_rec.
- db_host: Hostname where db is running. Defaults to localhost.
- badness_threshold: Bound on badness parameter to consider robot well-localized. Defaults to 0.25.
- continual_publish_: whether to continually publish pose estimates or only do so once. Defaults to false.
- odom_frame_: Name of the odometric frame. Defaults to odom_combined.
Definition in file localization_monitor_node.cpp.
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 582 of file localization_monitor_node.cpp.