#include <CoreWrapper.h>

Inheritance diagram for rtabmap_ros::CoreWrapper:

Public Member Functions
	CoreWrapper ()
virtual	~CoreWrapper ()
Private Member Functions
bool	backupDatabaseCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	cancelGoalCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void	commonDepthCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const sensor_msgs::LaserScanConstPtr &scanMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
void	commonDepthCallbackImpl (const std::string &odomFrameId, const rtabmap_ros::UserDataConstPtr &userDataMsg, const std::vector< cv_bridge::CvImageConstPtr > &imageMsgs, const std::vector< cv_bridge::CvImageConstPtr > &depthMsgs, const std::vector< sensor_msgs::CameraInfo > &cameraInfoMsgs, const sensor_msgs::LaserScanConstPtr &scan2dMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
virtual void	commonStereoCallback (const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::UserDataConstPtr &userDataMsg, const cv_bridge::CvImageConstPtr &leftImageMsg, const cv_bridge::CvImageConstPtr &rightImageMsg, const sensor_msgs::CameraInfo &leftCamInfoMsg, const sensor_msgs::CameraInfo &rightCamInfoMsg, const sensor_msgs::LaserScanConstPtr &scanMsg, const sensor_msgs::PointCloud2ConstPtr &scan3dMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
	DATA_SYNCS2 (rgb, sensor_msgs::Image, sensor_msgs::CameraInfo)
	DATA_SYNCS3 (rgbOdom, sensor_msgs::Image, sensor_msgs::CameraInfo, nav_msgs::Odometry)
void	defaultCallback (const sensor_msgs::ImageConstPtr &imageMsg)
bool	getGridMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
bool	getMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
bool	getMapDataCallback (rtabmap_ros::GetMap::Request &req, rtabmap_ros::GetMap::Response &res)
bool	getPlanCallback (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)
bool	getProbMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
bool	getProjMapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
void	globalPoseAsyncCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &globalPoseMsg)
void	goalActiveCb ()
void	goalCallback (const geometry_msgs::PoseStampedConstPtr &msg)
void	goalCommonCallback (int id, const std::string &label, const rtabmap::Transform &pose, const ros::Time &stamp, double *planningTime=0)
void	goalDoneCb (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
void	goalFeedbackCb (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
void	goalNodeCallback (const rtabmap_ros::GoalConstPtr &msg)
void	initialPoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &msg)
bool	listLabelsCallback (rtabmap_ros::ListLabels::Request &req, rtabmap_ros::ListLabels::Response &res)
void	loadParameters (const std::string &configFile, rtabmap::ParametersMap &parameters)
bool	odomTFUpdate (const ros::Time &stamp)
bool	odomUpdate (const nav_msgs::OdometryConstPtr &odomMsg, ros::Time stamp)
virtual void	onInit ()
bool	pauseRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	process (const ros::Time &stamp, const rtabmap::SensorData &data, const rtabmap::Transform &odom=rtabmap::Transform(), const std::string &odomFrameId="", const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const rtabmap::OdometryInfo &odomInfo=rtabmap::OdometryInfo())
void	publishCurrentGoal (const ros::Time &stamp)
void	publishGlobalPath (const ros::Time &stamp)
void	publishLocalPath (const ros::Time &stamp)
void	publishLoop (double tfDelay, double tfTolerance)
bool	publishMapCallback (rtabmap_ros::PublishMap::Request &, rtabmap_ros::PublishMap::Response &)
void	publishStats (const ros::Time &stamp)
bool	resetRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	resumeRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	saveParameters (const std::string &configFile)
bool	setGoalCallback (rtabmap_ros::SetGoal::Request &req, rtabmap_ros::SetGoal::Response &res)
bool	setLabelCallback (rtabmap_ros::SetLabel::Request &req, rtabmap_ros::SetLabel::Response &res)
bool	setLogDebug (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogError (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogInfo (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setLogWarn (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setModeLocalizationCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	setModeMappingCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	triggerNewMapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	updateGoal (const ros::Time &stamp)
bool	updateRtabmapCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	userDataAsyncCallback (const rtabmap_ros::UserDataConstPtr &dataMsg)
Private Attributes
ros::ServiceServer	backupDatabase_
ros::ServiceServer	cancelGoalSrv_
std::string	configPath_
cv::Mat	covariance_
bool	createIntermediateNodes_
rtabmap::Transform	currentMetricGoal_
std::string	databasePath_
image_transport::Subscriber	defaultSub_
std::string	frameId_
bool	genScan_
double	genScanMaxDepth_
double	genScanMinDepth_
ros::ServiceServer	getGridMapSrv_
ros::ServiceServer	getMapDataSrv_
ros::ServiceServer	getMapSrv_
ros::ServiceServer	getPlanSrv_
ros::ServiceServer	getProbMapSrv_
ros::ServiceServer	getProjMapSrv_
ros::Publisher	globalPathPub_
geometry_msgs::PoseWithCovarianceStamped	globalPose_
ros::Subscriber	globalPoseAsyncSub_
ros::Subscriber	goalNodeSub_
ros::Publisher	goalReachedPub_
ros::Subscriber	goalSub_
std::string	groundTruthBaseFrameId_
std::string	groundTruthFrameId_
ros::Publisher	infoPub_
ros::Subscriber	initialPoseSub_
ros::Publisher	labelsPub_
rtabmap::Transform	lastPose_
bool	lastPoseIntermediate_
ros::Time	lastPoseStamp_
rtabmap::Transform	lastPublishedMetricGoal_
bool	latestNodeWasReached_
ros::ServiceServer	listLabelsSrv_
ros::Publisher	localizationPosePub_
ros::Publisher	localPathPub_
ros::Publisher	mapDataPub_
std::string	mapFrameId_
ros::Publisher	mapGraphPub_
ros::Publisher	mapPathPub_
MapsManager	mapsManager_
rtabmap::Transform	mapToOdom_
boost::mutex	mapToOdomMutex_
int	maxMappingNodes_
MoveBaseClient	mbClient_
ros::Publisher	nextMetricGoalPub_
double	odomDefaultAngVariance_
double	odomDefaultLinVariance_
std::string	odomFrameId_
bool	odomSensorSync_
rtabmap::ParametersMap	parameters_
bool	paused_
ros::ServiceServer	pauseSrv_
ros::Time	previousStamp_
ros::ServiceServer	publishMapDataSrv_
float	rate_
ros::ServiceServer	resetSrv_
ros::ServiceServer	resumeSrv_
message_filters::Subscriber < sensor_msgs::CameraInfo >	rgbCameraInfoSub_
message_filters::Subscriber < nav_msgs::Odometry >	rgbOdomSub_
image_transport::SubscriberFilter	rgbSub_
rtabmap::Rtabmap	rtabmap_
std::map< std::string, float >	rtabmapROSStats_
int	scanCloudMaxPoints_
ros::ServiceServer	setGoalSrv_
ros::ServiceServer	setLabelSrv_
ros::ServiceServer	setLogDebugSrv_
ros::ServiceServer	setLogErrorSrv_
ros::ServiceServer	setLogInfoSrv_
ros::ServiceServer	setLogWarnSrv_
ros::ServiceServer	setModeLocalizationSrv_
ros::ServiceServer	setModeMappingSrv_
bool	stereoToDepth_
tf2_ros::TransformBroadcaster	tfBroadcaster_
tf::TransformListener	tfListener_
bool	tfThreadRunning_
ros::Time	time_
boost::thread *	transformThread_
ros::ServiceServer	triggerNewMapSrv_
ros::ServiceServer	updateSrv_
bool	useActionForGoal_
cv::Mat	userData_
ros::Subscriber	userDataAsyncSub_
UMutex	userDataMutex_
bool	useSavedMap_
bool	waitForTransform_
double	waitForTransformDuration_

Detailed Description

Definition at line 78 of file CoreWrapper.h.

Constructor & Destructor Documentation

rtabmap_ros::CoreWrapper::CoreWrapper ( )

Definition at line 84 of file CoreWrapper.cpp.

rtabmap_ros::CoreWrapper::~CoreWrapper ( ) [virtual]

Definition at line 648 of file CoreWrapper.cpp.

Member Function Documentation

bool rtabmap_ros::CoreWrapper::backupDatabaseCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 2023 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::cancelGoalCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[private]`

Definition at line 2517 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::commonDepthCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_ros::UserDataConstPtr &	userDataMsg,
		const std::vector< cv_bridge::CvImageConstPtr > &	imageMsgs,
		const std::vector< cv_bridge::CvImageConstPtr > &	depthMsgs,
		const std::vector< sensor_msgs::CameraInfo > &	cameraInfoMsgs,
		const sensor_msgs::LaserScanConstPtr &	scanMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scan3dMsg,
		const rtabmap_ros::OdomInfoConstPtr &	odomInfoMsg
	)		`[private, virtual]`

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 980 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::commonDepthCallbackImpl	(	const std::string &	odomFrameId,
		const rtabmap_ros::UserDataConstPtr &	userDataMsg,
		const std::vector< cv_bridge::CvImageConstPtr > &	imageMsgs,
		const std::vector< cv_bridge::CvImageConstPtr > &	depthMsgs,
		const std::vector< sensor_msgs::CameraInfo > &	cameraInfoMsgs,
		const sensor_msgs::LaserScanConstPtr &	scan2dMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scan3dMsg,
		const rtabmap_ros::OdomInfoConstPtr &	odomInfoMsg
	)		`[private]`

Definition at line 1042 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::commonStereoCallback	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		const rtabmap_ros::UserDataConstPtr &	userDataMsg,
		const cv_bridge::CvImageConstPtr &	leftImageMsg,
		const cv_bridge::CvImageConstPtr &	rightImageMsg,
		const sensor_msgs::CameraInfo &	leftCamInfoMsg,
		const sensor_msgs::CameraInfo &	rightCamInfoMsg,
		const sensor_msgs::LaserScanConstPtr &	scanMsg,
		const sensor_msgs::PointCloud2ConstPtr &	scan3dMsg,
		const rtabmap_ros::OdomInfoConstPtr &	odomInfoMsg
	)		`[private, virtual]`

Implements rtabmap_ros::CommonDataSubscriber.

Definition at line 1237 of file CoreWrapper.cpp.

rtabmap_ros::CoreWrapper::DATA_SYNCS2	(	rgb	,
		sensor_msgs::Image	,
		sensor_msgs::CameraInfo
	)		`[private]`

rtabmap_ros::CoreWrapper::DATA_SYNCS3	(	rgbOdom	,
		sensor_msgs::Image	,
		sensor_msgs::CameraInfo	,
		nav_msgs::Odometry
	)		`[private]`

void rtabmap_ros::CoreWrapper::defaultCallback ( const sensor_msgs::ImageConstPtr & imageMsg ) [private]

Definition at line 740 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getGridMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		`[private]`

Definition at line 2157 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		`[private]`

Definition at line 2163 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getMapDataCallback	(	rtabmap_ros::GetMap::Request &	req,
		rtabmap_ros::GetMap::Response &	res
	)		`[private]`

Definition at line 2097 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getPlanCallback	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	res
	)		`[private]`

Definition at line 2433 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getProbMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		`[private]`

Definition at line 2196 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::getProjMapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)		`[private]`

Definition at line 2139 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::globalPoseAsyncCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg ) [private]

Definition at line 1742 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalActiveCb ( ) [private]

Definition at line 2822 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalCallback ( const geometry_msgs::PoseStampedConstPtr & msg ) [private]

Definition at line 1889 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalCommonCallback	(	int	id,
		const std::string &	label,
		const rtabmap::Transform &	pose,
		const ros::Time &	stamp,
		double *	planningTime = `0`
	)		`[private]`

Definition at line 1762 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalDoneCb	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[private]`

Definition at line 2777 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalFeedbackCb ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [private]

Definition at line 2828 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::goalNodeCallback ( const rtabmap_ros::GoalConstPtr & msg ) [private]

Definition at line 1914 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::initialPoseCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg ) [private]

Definition at line 1750 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::listLabelsCallback	(	rtabmap_ros::ListLabels::Request &	req,
		rtabmap_ros::ListLabels::Response &	res
	)		`[private]`

Definition at line 2568 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::loadParameters	(	const std::string &	configFile,
		rtabmap::ParametersMap &	parameters
	)		`[private]`

Definition at line 686 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::odomTFUpdate ( const ros::Time & stamp ) [private]

Definition at line 927 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::odomUpdate	(	const nav_msgs::OdometryConstPtr &	odomMsg,
		ros::Time	stamp
	)		`[private]`

Definition at line 829 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::onInit ( ) [private, virtual]

Implements nodelet::Nodelet.

Definition at line 124 of file CoreWrapper.cpp.

bool rtabmap_ros::CoreWrapper::pauseRtabmapCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 1984 of file CoreWrapper.cpp.

void rtabmap_ros::CoreWrapper::process	(	const ros::Time &	stamp,
		const rtabmap::SensorData &	data,
		const rtabmap::Transform &	odom = `rtabmap::Transform()`,
		const std::string &	odomFrameId = `""`,
		const cv::Mat &	odomCovariance = `cv::Mat::eye(6,6,CV_64FC1)`,
		const rtabmap::OdometryInfo &	odomInfo = `rtabmap::OdometryInfo()`
	)		`[private]`