diff_publisher.cpp

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/*
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#include <graph_slam/diff_publisher.h>
#include <pose_graph/pose_graph_message.h>

namespace graph_slam
{

namespace pg=pose_graph;

DiffPublisher::DiffPublisher (const ros::NodeHandle& nh) :
  nh_(nh), diff_pub_(nh_.advertise<pg::PoseGraphDiff>("graph_diffs", 100)),
  graph_srv_(nh_.advertiseService("get_graph", &DiffPublisher::getGraph, this)),
  current_id_(1)
{}


void DiffPublisher::addDiff (pg::PoseGraphDiff* diff)
{
  boost::mutex::scoped_lock lock(mutex_);
  diff->id = current_id_++;
  applyDiff(&graph_, *diff);
  diff_pub_.publish(*diff);
}

bool DiffPublisher::getGraph (pg::GetGraph::Request& req, pg::GetGraph::Response& resp)
{
  boost::mutex::scoped_lock lock(mutex_);
  resp.graph = poseGraphToRos(graph_);
  resp.id = current_id_-1;
  return true;
}

void DiffPublisher::setGraph (const pg::PoseGraph& graph)
{
  {
    boost::mutex::scoped_lock lock(mutex_);
    graph_ = graph;
    current_id_ += 2; // make all subscribers think they dropped a diff
  }
  // It's fine if a call to getGraph intervenes here, but not addDiff
  pg::PoseGraphDiff fake_diff;
  addDiff(&fake_diff); // Trigger all subscribers requesting new graph
}

 

} // namespace graph_slam