Classes | Public Member Functions | Private Member Functions | Private Attributes
cartographer_ros::Node Class Reference

#include <node.h>

List of all members.

Classes

struct  Subscriber
struct  TrajectorySensorSamplers

Public Member Functions

int AddOfflineTrajectory (const std::set< cartographer::mapping::TrajectoryBuilderInterface::SensorId > &expected_sensor_ids, const TrajectoryOptions &options)
std::vector< std::set
<::cartographer::mapping::TrajectoryBuilderInterface::SensorId > > 		ComputeDefaultSensorIdsForMultipleBags (const std::vector< TrajectoryOptions > &bags_options) const
void FinishAllTrajectories ()
bool FinishTrajectory (int trajectory_id)
void HandleImuMessage (int trajectory_id, const std::string &sensor_id, const sensor_msgs::Imu::ConstPtr &msg)
void HandleLandmarkMessage (int trajectory_id, const std::string &sensor_id, const cartographer_ros_msgs::LandmarkList::ConstPtr &msg)
void HandleLaserScanMessage (int trajectory_id, const std::string &sensor_id, const sensor_msgs::LaserScan::ConstPtr &msg)
void HandleMultiEchoLaserScanMessage (int trajectory_id, const std::string &sensor_id, const sensor_msgs::MultiEchoLaserScan::ConstPtr &msg)
void HandleNavSatFixMessage (int trajectory_id, const std::string &sensor_id, const sensor_msgs::NavSatFix::ConstPtr &msg)
void HandleOdometryMessage (int trajectory_id, const std::string &sensor_id, const nav_msgs::Odometry::ConstPtr &msg)
void HandlePointCloud2Message (int trajectory_id, const std::string &sensor_id, const sensor_msgs::PointCloud2::ConstPtr &msg)
void LoadState (const std::string &state_filename, bool load_frozen_state)
 Node (const NodeOptions &node_options, std::unique_ptr< cartographer::mapping::MapBuilderInterface > map_builder, tf2_ros::Buffer *tf_buffer, bool collect_metrics)
 Node (const Node &)
::ros::NodeHandle * node_handle ()
Node & operator= (const Node &)
void RunFinalOptimization ()
void SerializeState (const std::string &filename, const bool include_unfinished_submaps)
void StartTrajectoryWithDefaultTopics (const TrajectoryOptions &options)
 ~Node ()

Private Member Functions

void AddExtrapolator (int trajectory_id, const TrajectoryOptions &options)
void AddSensorSamplers (int trajectory_id, const TrajectoryOptions &options)
int AddTrajectory (const TrajectoryOptions &options)
std::set
<::cartographer::mapping::TrajectoryBuilderInterface::SensorId > 		ComputeExpectedSensorIds (const TrajectoryOptions &options) const
cartographer_ros_msgs::StatusResponse FinishTrajectoryUnderLock (int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(mutex_)
MapBuilderBridge
map_builder_bridge_ 		GUARDED_BY (mutex_)
bool HandleFinishTrajectory (cartographer_ros_msgs::FinishTrajectory::Request &request, cartographer_ros_msgs::FinishTrajectory::Response &response)
bool HandleGetTrajectoryStates (::cartographer_ros_msgs::GetTrajectoryStates::Request &request,::cartographer_ros_msgs::GetTrajectoryStates::Response &response)
bool HandleReadMetrics (cartographer_ros_msgs::ReadMetrics::Request &request, cartographer_ros_msgs::ReadMetrics::Response &response)
bool HandleStartTrajectory (cartographer_ros_msgs::StartTrajectory::Request &request, cartographer_ros_msgs::StartTrajectory::Response &response)
bool HandleSubmapQuery (cartographer_ros_msgs::SubmapQuery::Request &request, cartographer_ros_msgs::SubmapQuery::Response &response)
bool HandleTrajectoryQuery (::cartographer_ros_msgs::TrajectoryQuery::Request &request,::cartographer_ros_msgs::TrajectoryQuery::Response &response)
bool HandleWriteState (cartographer_ros_msgs::WriteState::Request &request, cartographer_ros_msgs::WriteState::Response &response)
void LaunchSubscribers (const TrajectoryOptions &options, int trajectory_id)
void MaybeWarnAboutTopicMismatch (const ::ros::WallTimerEvent &)
void PublishConstraintList (const ::ros::WallTimerEvent &timer_event)
void PublishLandmarkPosesList (const ::ros::WallTimerEvent &timer_event)
void PublishLocalTrajectoryData (const ::ros::TimerEvent &timer_event)
void PublishSubmapList (const ::ros::WallTimerEvent &timer_event)
void PublishTrajectoryNodeList (const ::ros::WallTimerEvent &timer_event)
cartographer_ros_msgs::StatusResponse TrajectoryStateToStatus (int trajectory_id, const std::set< cartographer::mapping::PoseGraphInterface::TrajectoryState > &valid_states)
bool ValidateTopicNames (const TrajectoryOptions &options)
bool ValidateTrajectoryOptions (const TrajectoryOptions &options)

Private Attributes

::ros::Publisher constraint_list_publisher_
std::map< int,::cartographer::mapping::PoseExtrapolator > extrapolators_
::ros::Publisher landmark_poses_list_publisher_
std::unique_ptr
< cartographer_ros::metrics::FamilyFactory > 		metrics_registry_
absl::Mutex mutex_
::ros::NodeHandle node_handle_
const NodeOptions node_options_
::ros::Timer publish_local_trajectory_data_timer_
::ros::Publisher scan_matched_point_cloud_publisher_
std::unordered_map< int,
TrajectorySensorSamplers > 		sensor_samplers_
std::vector<::ros::ServiceServer > service_servers_
::ros::Publisher submap_list_publisher_
std::unordered_set< std::string > subscribed_topics_
std::unordered_map< int,
std::vector< Subscriber > > 		subscribers_
tf2_ros::TransformBroadcaster tf_broadcaster_
std::unordered_set< int > trajectories_scheduled_for_finish_
::ros::Publisher trajectory_node_list_publisher_
std::vector<::ros::WallTimer > wall_timers_

Detailed Description

Definition at line 57 of file node.h.

Constructor & Destructor Documentation

cartographer_ros::Node::Node ( const NodeOptions &  node_options,
std::unique_ptr< cartographer::mapping::MapBuilderInterface >  map_builder,
tf2_ros::Buffer *  tf_buffer,
bool  collect_metrics 
)

Definition at line 92 of file node.cc.

cartographer_ros::Node::~Node ( )

Definition at line 154 of file node.cc.

cartographer_ros::Node::Node ( const Node &  )

Member Function Documentation

void cartographer_ros::Node::AddExtrapolator ( int  trajectory_id,
const TrajectoryOptions &  options 
) [private]

Definition at line 188 of file node.cc.

int cartographer_ros::Node::AddOfflineTrajectory ( const std::set< cartographer::mapping::TrajectoryBuilderInterface::SensorId > &  expected_sensor_ids,
const TrajectoryOptions &  options 
)

Definition at line 619 of file node.cc.

void cartographer_ros::Node::AddSensorSamplers ( int  trajectory_id,
const TrajectoryOptions &  options 
) [private]

Definition at line 205 of file node.cc.

int cartographer_ros::Node::AddTrajectory ( const TrajectoryOptions &  options) [private]

Definition at line 373 of file node.cc.

std::vector< std::set< cartographer::mapping::TrajectoryBuilderInterface::SensorId > > cartographer_ros::Node::ComputeDefaultSensorIdsForMultipleBags ( const std::vector< TrajectoryOptions > &  bags_options) const

Definition at line 601 of file node.cc.

std::set< cartographer::mapping::TrajectoryBuilderInterface::SensorId > cartographer_ros::Node::ComputeExpectedSensorIds ( const TrajectoryOptions &  options) const [private]

Definition at line 332 of file node.cc.

void cartographer_ros::Node::FinishAllTrajectories ( )

Definition at line 704 of file node.cc.

bool cartographer_ros::Node::FinishTrajectory ( int  trajectory_id)

Definition at line 715 of file node.cc.

cartographer_ros_msgs::StatusResponse cartographer_ros::Node::FinishTrajectoryUnderLock ( int  trajectory_id) [private]

Definition at line 499 of file node.cc.

MapBuilderBridge map_builder_bridge_ cartographer_ros::Node::GUARDED_BY ( mutex_  ) [private]
bool cartographer_ros::Node::HandleFinishTrajectory ( cartographer_ros_msgs::FinishTrajectory::Request &  request,
cartographer_ros_msgs::FinishTrajectory::Response &  response 
) [private]

Definition at line 663 of file node.cc.

bool cartographer_ros::Node::HandleGetTrajectoryStates ( ::cartographer_ros_msgs::GetTrajectoryStates::Request &  request,
::cartographer_ros_msgs::GetTrajectoryStates::Response &  response 
) [private]

Definition at line 631 of file node.cc.

void cartographer_ros::Node::HandleImuMessage ( int  trajectory_id,
const std::string &  sensor_id,
const sensor_msgs::Imu::ConstPtr &  msg 
)

Definition at line 778 of file node.cc.

void cartographer_ros::Node::HandleLandmarkMessage ( int  trajectory_id,
const std::string &  sensor_id,
const cartographer_ros_msgs::LandmarkList::ConstPtr &  msg 
)

Definition at line 767 of file node.cc.

void cartographer_ros::Node::HandleLaserScanMessage ( int  trajectory_id,
const std::string &  sensor_id,
const sensor_msgs::LaserScan::ConstPtr &  msg 
)

Definition at line 793 of file node.cc.

void cartographer_ros::Node::HandleMultiEchoLaserScanMessage ( int  trajectory_id,
const std::string &  sensor_id,
const sensor_msgs::MultiEchoLaserScan::ConstPtr &  msg 
)

Definition at line 804 of file node.cc.

void cartographer_ros::Node::HandleNavSatFixMessage ( int  trajectory_id,
const std::string &  sensor_id,
const sensor_msgs::NavSatFix::ConstPtr &  msg 
)

Definition at line 756 of file node.cc.

void cartographer_ros::Node::HandleOdometryMessage ( int  trajectory_id,
const std::string &  sensor_id,
const nav_msgs::Odometry::ConstPtr &  msg 
)

Definition at line 741 of file node.cc.

void cartographer_ros::Node::HandlePointCloud2Message ( int  trajectory_id,
const std::string &  sensor_id,
const sensor_msgs::PointCloud2::ConstPtr &  msg 
)

Definition at line 815 of file node.cc.

bool cartographer_ros::Node::HandleReadMetrics ( cartographer_ros_msgs::ReadMetrics::Request &  request,
cartographer_ros_msgs::ReadMetrics::Response &  response 
) [private]

Definition at line 688 of file node.cc.

bool cartographer_ros::Node::HandleStartTrajectory ( cartographer_ros_msgs::StartTrajectory::Request &  request,
cartographer_ros_msgs::StartTrajectory::Response &  response 
) [private]

Definition at line 536 of file node.cc.

bool cartographer_ros::Node::HandleSubmapQuery ( cartographer_ros_msgs::SubmapQuery::Request &  request,
cartographer_ros_msgs::SubmapQuery::Response &  response 
) [private]

Definition at line 158 of file node.cc.

bool cartographer_ros::Node::HandleTrajectoryQuery ( ::cartographer_ros_msgs::TrajectoryQuery::Request &  request,
::cartographer_ros_msgs::TrajectoryQuery::Response &  response 
) [private]

Definition at line 166 of file node.cc.

bool cartographer_ros::Node::HandleWriteState ( cartographer_ros_msgs::WriteState::Request &  request,
cartographer_ros_msgs::WriteState::Response &  response 
) [private]

Definition at line 671 of file node.cc.

void cartographer_ros::Node::LaunchSubscribers ( const TrajectoryOptions &  options,
int  trajectory_id 
) [private]

Definition at line 390 of file node.cc.

void cartographer_ros::Node::LoadState ( const std::string &  state_filename,
bool  load_frozen_state 
)

Definition at line 834 of file node.cc.

void cartographer_ros::Node::MaybeWarnAboutTopicMismatch ( const ::ros::WallTimerEvent &  unused_timer_event) [private]

Definition at line 840 of file node.cc.

ros::NodeHandle * cartographer_ros::Node::node_handle ( )

Definition at line 156 of file node.cc.

Node& cartographer_ros::Node::operator= ( const Node &  )
void cartographer_ros::Node::PublishConstraintList ( const ::ros::WallTimerEvent &  timer_event) [private]

Definition at line 323 of file node.cc.

void cartographer_ros::Node::PublishLandmarkPosesList ( const ::ros::WallTimerEvent &  timer_event) [private]

Definition at line 314 of file node.cc.

void cartographer_ros::Node::PublishLocalTrajectoryData ( const ::ros::TimerEvent &  timer_event) [private]

Definition at line 216 of file node.cc.

void cartographer_ros::Node::PublishSubmapList ( const ::ros::WallTimerEvent &  timer_event) [private]

Definition at line 183 of file node.cc.

void cartographer_ros::Node::PublishTrajectoryNodeList ( const ::ros::WallTimerEvent &  timer_event) [private]

Definition at line 305 of file node.cc.

void cartographer_ros::Node::RunFinalOptimization ( )

Definition at line 721 of file node.cc.

void cartographer_ros::Node::SerializeState ( const std::string &  filename,
const bool  include_unfinished_submaps 
)

Definition at line 826 of file node.cc.

void cartographer_ros::Node::StartTrajectoryWithDefaultTopics ( const TrajectoryOptions &  options)

Definition at line 593 of file node.cc.

cartographer_ros_msgs::StatusResponse cartographer_ros::Node::TrajectoryStateToStatus ( int  trajectory_id,
const std::set< cartographer::mapping::PoseGraphInterface::TrajectoryState > &  valid_states 
) [private]

Definition at line 476 of file node.cc.

bool cartographer_ros::Node::ValidateTopicNames ( const TrajectoryOptions &  options) [private]

Definition at line 465 of file node.cc.

bool cartographer_ros::Node::ValidateTrajectoryOptions ( const TrajectoryOptions &  options) [private]

Definition at line 453 of file node.cc.

Member Data Documentation

::ros::Publisher cartographer_ros::Node::constraint_list_publisher_ [private]

Definition at line 190 of file node.h.

std::map<int, ::cartographer::mapping::PoseExtrapolator> cartographer_ros::Node::extrapolators_ [private]

Definition at line 215 of file node.h.

::ros::Publisher cartographer_ros::Node::landmark_poses_list_publisher_ [private]

Definition at line 189 of file node.h.

std::unique_ptr<cartographer_ros::metrics::FamilyFactory> cartographer_ros::Node::metrics_registry_ [private]

Definition at line 183 of file node.h.

absl::Mutex cartographer_ros::Node::mutex_ [private]

Definition at line 182 of file node.h.

::ros::NodeHandle cartographer_ros::Node::node_handle_ [private]

Definition at line 186 of file node.h.

const NodeOptions cartographer_ros::Node::node_options_ [private]

Definition at line 178 of file node.h.

::ros::Timer cartographer_ros::Node::publish_local_trajectory_data_timer_ [private]

Definition at line 229 of file node.h.

::ros::Publisher cartographer_ros::Node::scan_matched_point_cloud_publisher_ [private]

Definition at line 193 of file node.h.

std::unordered_map<int, TrajectorySensorSamplers> cartographer_ros::Node::sensor_samplers_ [private]

Definition at line 216 of file node.h.

std::vector<::ros::ServiceServer> cartographer_ros::Node::service_servers_ [private]

Definition at line 192 of file node.h.

::ros::Publisher cartographer_ros::Node::submap_list_publisher_ [private]

Definition at line 187 of file node.h.

std::unordered_set<std::string> cartographer_ros::Node::subscribed_topics_ [private]

Definition at line 218 of file node.h.

std::unordered_map<int, std::vector<Subscriber> > cartographer_ros::Node::subscribers_ [private]

Definition at line 217 of file node.h.

tf2_ros::TransformBroadcaster cartographer_ros::Node::tf_broadcaster_ [private]

Definition at line 180 of file node.h.

std::unordered_set<int> cartographer_ros::Node::trajectories_scheduled_for_finish_ [private]

Definition at line 219 of file node.h.

::ros::Publisher cartographer_ros::Node::trajectory_node_list_publisher_ [private]

Definition at line 188 of file node.h.

std::vector<::ros::WallTimer> cartographer_ros::Node::wall_timers_ [private]

Definition at line 223 of file node.h.

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

cartographer_ros
Author(s): The Cartographer Authors
autogenerated on Wed Jul 10 2019 04:10:28