Namespaces
namespace	metrics
Classes
class	AssetsWriter
class	MapBuilderBridge
class	Node
struct	NodeOptions
class	PlayableBag
class	PlayableBagMultiplexer
class	RosMapWritingPointsProcessor
class	ScopedRosLogSink
class	SensorBridge
class	TfBridge
struct	TrajectoryOptions
Functions
cartographer::transform::Rigid3d	ComputeLocalFrameFromLatLong (const double latitude, const double longitude)
std::vector< std::string >	ComputeRepeatedTopicNames (const std::string &topic, const int num_topics)
NodeOptions	CreateNodeOptions (::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
std::unique_ptr < nav_msgs::OccupancyGrid >	CreateOccupancyGridMsg (const cartographer::io::PaintSubmapSlicesResult &painted_slices, const double resolution, const std::string &frame_id, const ros::Time &time)
TrajectoryOptions	CreateTrajectoryOptions (::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
std::unique_ptr <::cartographer::io::SubmapTextures >	FetchSubmapTextures (const ::cartographer::mapping::SubmapId &submap_id, ros::ServiceClient *client)
::cartographer::common::Time	FromRos (const ::ros::Time &time)
Eigen::Vector3d	LatLongAltToEcef (const double latitude, const double longitude, const double altitude)
std::tuple< NodeOptions, TrajectoryOptions >	LoadOptions (const std::string &configuration_directory, const std::string &configuration_basename)
std::vector < geometry_msgs::TransformStamped >	ReadStaticTransformsFromUrdf (const std::string &urdf_filename, tf2_ros::Buffer *const tf_buffer)
void	RunOfflineNode (const MapBuilderFactory &map_builder_factory)
Eigen::Vector3d	ToEigen (const geometry_msgs::Vector3 &vector3)
Eigen::Quaterniond	ToEigen (const geometry_msgs::Quaternion &quaternion)
geometry_msgs::Point	ToGeometryMsgPoint (const Eigen::Vector3d &vector3d)
geometry_msgs::Pose	ToGeometryMsgPose (const ::cartographer::transform::Rigid3d &rigid3d)
geometry_msgs::Pose	ToGeometryMsgPose (const Rigid3d &rigid3d)
geometry_msgs::Transform	ToGeometryMsgTransform (const ::cartographer::transform::Rigid3d &rigid3d)
geometry_msgs::Transform	ToGeometryMsgTransform (const Rigid3d &rigid3d)
::cartographer::sensor::LandmarkData	ToLandmarkData (const cartographer_ros_msgs::LandmarkList &landmark_list)
LandmarkData	ToLandmarkData (const LandmarkList &landmark_list)
sensor_msgs::PointCloud2	ToPointCloud2Message (const int64_t timestamp, const std::string &frame_id, const ::cartographer::sensor::TimedPointCloud &point_cloud)
std::tuple <::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time >	ToPointCloudWithIntensities (const sensor_msgs::LaserScan &msg)
std::tuple <::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time >	ToPointCloudWithIntensities (const sensor_msgs::MultiEchoLaserScan &msg)
std::tuple <::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time >	ToPointCloudWithIntensities (const sensor_msgs::PointCloud2 &msg)
Rigid3d	ToRigid3d (const geometry_msgs::TransformStamped &transform)
Rigid3d	ToRigid3d (const geometry_msgs::Pose &pose)
::ros::Time	ToRos (::cartographer::common::Time time)
void	WritePgm (const ::cartographer::io::Image &image, const double resolution,::cartographer::io::FileWriter *file_writer)
void	WriteYaml (const double resolution, const Eigen::Vector2d &origin, const std::string &pgm_filename,::cartographer::io::FileWriter *file_writer)
Variables
constexpr double	kClockPublishFrequencySec = 1. / 30.
constexpr char	kClockTopic [] = "clock"
constexpr char	kConstraintListTopic [] = "constraint_list"
constexpr double	kConstraintPublishPeriodSec = 0.5
const ::ros::Duration	kDelay = ::ros::Duration(1.0)
constexpr char	kFinishTrajectoryServiceName [] = "finish_trajectory"
constexpr char	kGetTrajectoryStatesServiceName [] = "get_trajectory_states"
constexpr char	kImuTopic [] = "imu"
constexpr int	kInfiniteSubscriberQueueSize = 0
constexpr char	kLandmarkPosesListTopic [] = "landmark_poses_list"
constexpr char	kLandmarkTopic [] = "landmark"
constexpr char	kLaserScanTopic [] = "scan"
constexpr int	kLatestOnlyPublisherQueueSize = 1
constexpr char	kMultiEchoLaserScanTopic [] = "echoes"
constexpr char	kNavSatFixTopic [] = "fix"
constexpr char	kOccupancyGridTopic [] = "map"
constexpr char	kOdometryTopic [] = "odom"
constexpr char	kPointCloud2Topic [] = "points2"
constexpr char	kReadMetricsServiceName [] = "read_metrics"
constexpr char	kScanMatchedPointCloudTopic [] = "scan_matched_points2"
constexpr int	kSingleThreaded = 1
constexpr char	kStartTrajectoryServiceName [] = "start_trajectory"
constexpr char	kSubmapListTopic [] = "submap_list"
constexpr char	kSubmapQueryServiceName [] = "submap_query"
constexpr char	kTfStaticTopic [] = "/tf_static"
constexpr char	kTfTopic [] = "tf"
constexpr double	kTopicMismatchCheckDelaySec = 3.0
constexpr char	kTrajectoryNodeListTopic [] = "trajectory_node_list"
constexpr char	kTrajectoryQueryServiceName [] = "trajectory_query"
constexpr char	kWriteStateServiceName [] = "write_state"

Function Documentation

cartographer::transform::Rigid3d cartographer_ros::ComputeLocalFrameFromLatLong	(	const double	latitude,
		const double	longitude
	)

Definition at line 362 of file msg_conversion.cc.

std::vector< std::string > cartographer_ros::ComputeRepeatedTopicNames	(	const std::string &	topic,
		const int	num_topics
	)

Definition at line 23 of file node_constants.cc.

NodeOptions cartographer_ros::CreateNodeOptions ( ::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary )

Definition at line 27 of file node_options.cc.

std::unique_ptr< nav_msgs::OccupancyGrid > cartographer_ros::CreateOccupancyGridMsg	(	const cartographer::io::PaintSubmapSlicesResult &	painted_slices,
		const double	resolution,
		const std::string &	frame_id,
		const ros::Time &	time
	)

Definition at line 373 of file msg_conversion.cc.

TrajectoryOptions cartographer_ros::CreateTrajectoryOptions ( ::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary )

Definition at line 41 of file trajectory_options.cc.

std::unique_ptr<::cartographer::io::SubmapTextures > cartographer_ros::FetchSubmapTextures	(	const ::cartographer::mapping::SubmapId &	submap_id,
		ros::ServiceClient *	client
	)

Definition at line 28 of file submap.cc.

cartographer::common::Time cartographer_ros::FromRos ( const ::ros::Time & time )

Definition at line 37 of file time_conversion.cc.

Eigen::Vector3d cartographer_ros::LatLongAltToEcef	(	const double	latitude,
		const double	longitude,
		const double	altitude
	)

Definition at line 341 of file msg_conversion.cc.

std::tuple< NodeOptions, TrajectoryOptions > cartographer_ros::LoadOptions	(	const std::string &	configuration_directory,
		const std::string &	configuration_basename
	)

Definition at line 50 of file node_options.cc.

std::vector< geometry_msgs::TransformStamped > cartographer_ros::ReadStaticTransformsFromUrdf	(	const std::string &	urdf_filename,
		tf2_ros::Buffer *const	tf_buffer
	)

Definition at line 27 of file urdf_reader.cc.

void cartographer_ros::RunOfflineNode ( const MapBuilderFactory & map_builder_factory )

Definition at line 90 of file offline_node.cc.

Eigen::Vector3d cartographer_ros::ToEigen ( const geometry_msgs::Vector3 & vector3 )

Definition at line 302 of file msg_conversion.cc.

Eigen::Quaterniond cartographer_ros::ToEigen ( const geometry_msgs::Quaternion & quaternion )

Definition at line 306 of file msg_conversion.cc.

geometry_msgs::Point cartographer_ros::ToGeometryMsgPoint ( const Eigen::Vector3d & vector3d )

Definition at line 333 of file msg_conversion.cc.

geometry_msgs::Pose cartographer_ros::ToGeometryMsgPose ( const ::cartographer::transform::Rigid3d & rigid3d )

geometry_msgs::Pose cartographer_ros::ToGeometryMsgPose ( const Rigid3d & rigid3d )

Definition at line 323 of file msg_conversion.cc.

geometry_msgs::Transform cartographer_ros::ToGeometryMsgTransform ( const ::cartographer::transform::Rigid3d & rigid3d )

geometry_msgs::Transform cartographer_ros::ToGeometryMsgTransform ( const Rigid3d & rigid3d )

Definition at line 311 of file msg_conversion.cc.

::cartographer::sensor::LandmarkData cartographer_ros::ToLandmarkData ( const cartographer_ros_msgs::LandmarkList & landmark_list )

LandmarkData cartographer_ros::ToLandmarkData ( const LandmarkList & landmark_list )

Definition at line 281 of file msg_conversion.cc.

sensor_msgs::PointCloud2 cartographer_ros::ToPointCloud2Message	(	const int64_t	timestamp,
		const std::string &	frame_id,
		const ::cartographer::sensor::TimedPointCloud &	point_cloud
	)

Definition at line 189 of file msg_conversion.cc.

std::tuple<::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time > cartographer_ros::ToPointCloudWithIntensities ( const sensor_msgs::LaserScan & msg )

Definition at line 205 of file msg_conversion.cc.

std::tuple<::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time > cartographer_ros::ToPointCloudWithIntensities ( const sensor_msgs::MultiEchoLaserScan & msg )

Definition at line 211 of file msg_conversion.cc.

std::tuple<::cartographer::sensor::PointCloudWithIntensities,::cartographer::common::Time > cartographer_ros::ToPointCloudWithIntensities ( const sensor_msgs::PointCloud2 & msg )

Definition at line 217 of file msg_conversion.cc.

cartographer::transform::Rigid3d cartographer_ros::ToRigid3d ( const geometry_msgs::TransformStamped & transform )

Definition at line 292 of file msg_conversion.cc.

cartographer::transform::Rigid3d cartographer_ros::ToRigid3d ( const geometry_msgs::Pose & pose )

Definition at line 297 of file msg_conversion.cc.

ros::Time cartographer_ros::ToRos ( ::cartographer::common::Time time )

Definition at line 24 of file time_conversion.cc.

void cartographer_ros::WritePgm	(	const ::cartographer::io::Image &	image,
		const double	resolution,
		::cartographer::io::FileWriter *	file_writer
	)

Definition at line 23 of file ros_map.cc.

void cartographer_ros::WriteYaml	(	const double	resolution,
		const Eigen::Vector2d &	origin,
		const std::string &	pgm_filename,
		::cartographer::io::FileWriter *	file_writer
	)