The PFslamWrapper class provides the ROS wrapper for Rao-Blackwellized Particle filter SLAM from MRPT libraries. More...

#include <mrpt_rbpf_slam_wrapper.h>

Inheritance diagram for mrpt_rbpf_slam::PFslamWrapper:

[legend]

List of all members.

Public Member Functions
void	callbackBeacon (const mrpt_msgs::ObservationRangeBeacon &msg)
	Callback function for the beacons.
bool	getParams (const ros::NodeHandle &nh_p)
	Read the parameters from launch file.
bool	init (ros::NodeHandle &nh)
	Initialize publishers subscribers and RBPF slam.
void	laserCallback (const sensor_msgs::LaserScan &msg)
	Callback function for the laser scans.
void	odometryForCallback (mrpt::obs::CObservationOdometry::Ptr &odometry, const std_msgs::Header &msg_header)
	Get the odometry for received observation.
	PFslamWrapper ()
void	publishMapPose ()
	Publish beacon or grid map and robot pose.
void	publishTF ()
	Publish tf tree.
bool	rawlogPlay ()
	Play rawlog file.
void	updateSensorPose (const std::string &frame_id)
	Update the pose of the sensor with respect to the robot.
void	vizBeacons ()
	Correct visualization for ro slam.
bool	waitForTransform (mrpt::poses::CPose3D &des, const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01))
	Wait for transform between odometry frame and the robot frame.
	~PFslamWrapper ()
Private Attributes
std::string	base_frame_id_
	robot frame
std::map< std::string, mrpt::poses::CPose3D >	beacon_poses_
	beacon poses with respect to the map
ros::Publisher	beacon_viz_pub_
	publishers for map and pose particles
std::vector< std::pair < mrpt::obs::CActionCollection, mrpt::obs::CSensoryFrame > >	data_
std::string	global_frame_id_
	/map frame
std::string	ini_filename_
	name of ini file
std::map< std::string, mrpt::poses::CPose3D >	laser_poses_
	laser scan poses with respect to the map
tf::TransformListener	listenerTF_
	transform listener
std::string	odom_frame_id_
	/odom frame
ros::Publisher	pub_map_
ros::Publisher	pub_metadata_
ros::Publisher	pub_particles_
ros::Publisher	pub_particles_beacons_
std::string	rawlog_filename_
	true if rawlog file exists
double	rawlog_play_delay_
	delay of replay from rawlog file
std::string	sensor_source_
	2D laser scans
std::vector< ros::Subscriber >	sensorSub_
	list of sensors topics
float	t_exec_
	the time which take one SLAM update execution
tf::TransformBroadcaster	tf_broadcaster_
	transform broadcaster
mrpt::utils::CTicTac	tictac_
std::vector < mrpt::opengl::CEllipsoid::Ptr >	viz_beacons_

Detailed Description

The PFslamWrapper class provides the ROS wrapper for Rao-Blackwellized Particle filter SLAM from MRPT libraries.

Definition at line 49 of file mrpt_rbpf_slam_wrapper.h.

Constructor & Destructor Documentation

mrpt_rbpf_slam::PFslamWrapper::PFslamWrapper ( )

Definition at line 16 of file mrpt_rbpf_slam_wrapper.cpp.

mrpt_rbpf_slam::PFslamWrapper::~PFslamWrapper ( )

Member Function Documentation

void mrpt_rbpf_slam::PFslamWrapper::callbackBeacon ( const mrpt_msgs::ObservationRangeBeacon & msg )

Callback function for the beacons.

Given the range only observation wait for odometry, create the pair of action and observation, implement one SLAM update, publish map and pose.

Parameters:

msg	the beacon message

Definition at line 171 of file mrpt_rbpf_slam_wrapper.cpp.

bool mrpt_rbpf_slam::PFslamWrapper::getParams ( const ros::NodeHandle & nh_p )

Read the parameters from launch file.

Definition at line 20 of file mrpt_rbpf_slam_wrapper.cpp.

bool mrpt_rbpf_slam::PFslamWrapper::init ( ros::NodeHandle & nh )

Initialize publishers subscribers and RBPF slam.

Create publishers///

Create subscribers///

Definition at line 52 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::laserCallback ( const sensor_msgs::LaserScan & msg )

Callback function for the laser scans.

Given the laser scans wait for odometry, create the pair of action and observation, implement one SLAM update, publish map and pose.

Parameters:

msg	the laser scan message

Definition at line 141 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::odometryForCallback	(	mrpt::obs::CObservationOdometry::Ptr &	odometry,
		const std_msgs::Header &	msg_header
	)

Get the odometry for received observation.

Parameters:

[out]	odometry	odometry for received observation
[in]	msg_header	timestamp of the observation

Definition at line 106 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::publishMapPose ( )

Publish beacon or grid map and robot pose.

Definition at line 201 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::publishTF ( )

Publish tf tree.

Definition at line 444 of file mrpt_rbpf_slam_wrapper.cpp.

bool mrpt_rbpf_slam::PFslamWrapper::rawlogPlay ( )

Play rawlog file.

Returns:: true if rawlog file exists and played

Definition at line 355 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::updateSensorPose ( const std::string & frame_id )

Update the pose of the sensor with respect to the robot.

Parameters:

frame_id the frame of the sensors

Definition at line 329 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::vizBeacons ( )

Correct visualization for ro slam.

Definition at line 271 of file mrpt_rbpf_slam_wrapper.cpp.

bool mrpt_rbpf_slam::PFslamWrapper::waitForTransform	(	mrpt::poses::CPose3D &	des,
		const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration &	timeout,
		const ros::Duration &	polling_sleep_duration = `ros::Duration(0.01)`
	)

Wait for transform between odometry frame and the robot frame.

Parameters:

[out]	des	position of the robot with respect to odometry frame
[in]	target_frame	the odometry tf frame
[in]	source_frame	the robot tf frame
[in]	time	timestamp of the observation for which we want to retrieve the position of the robot
[in]	timeout	timeout for odometry waiting
[in]	polling_sleep_duration	timeout for transform wait