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 PFslamWrapper:

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List of all members.

Public Member Functions
void	callbackBeacon (const mrpt_msgs::ObservationRangeBeacon &_msg)
	callback function for the beacons
void	get_param ()
	read the parameters from launch file
void	init ()
	initialize publishers subscribers and RBPF slam
bool	is_file_exists (const std::string &name)
	check the existance of the file
void	laserCallback (const sensor_msgs::LaserScan &_msg)
	callback function for the laser scans
void	odometryForCallback (CObservationOdometryPtr &_odometry, const std_msgs::Header &_msg_header)
	get the odometry for received observation
	PFslamWrapper ()
	constructor
void	publishMapPose ()
	publish beacon or grid map and robot pose
void	publishTF ()
	publis tf tree
bool	rawlogPlay ()
	play rawlog file
void	updateSensorPose (std::string frame_id)
	update the pose of the sensor with respect to the robot
void	vizBeacons ()
	correct visualization for ro slam (under development)
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 transfor between odometry frame and the robot frame
	~PFslamWrapper ()
	destructor
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 < CActionCollection, 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
ros::NodeHandle	n_
	Node Handle.
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
	name of rawlog file
bool	rawlog_play_
	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
CTicTac	tictac
	timer for SLAM performance evaluation
std::vector < mrpt::opengl::CEllipsoidPtr >	viz_beacons

Detailed Description

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

Definition at line 54 of file mrpt_rbpf_slam_wrapper.h.

Constructor & Destructor Documentation

PFslamWrapper::PFslamWrapper ( )

constructor

Definition at line 3 of file mrpt_rbpf_slam_wrapper.cpp.

PFslamWrapper::~PFslamWrapper ( )

destructor

Definition at line 9 of file mrpt_rbpf_slam_wrapper.cpp.

Member Function Documentation

void 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 170 of file mrpt_rbpf_slam_wrapper.cpp.

void PFslamWrapper::get_param ( )

read the parameters from launch file

Definition at line 19 of file mrpt_rbpf_slam_wrapper.cpp.

void PFslamWrapper::init ( )

initialize publishers subscribers and RBPF slam

Create publishers///

Create subscribers///

Definition at line 44 of file mrpt_rbpf_slam_wrapper.cpp.

bool PFslamWrapper::is_file_exists ( const std::string & name )

check the existance of the file

Returns:: true if file exists

Definition at line 13 of file mrpt_rbpf_slam_wrapper.cpp.

void 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 132 of file mrpt_rbpf_slam_wrapper.cpp.

void PFslamWrapper::odometryForCallback	(	CObservationOdometryPtr &	_odometry,
		const std_msgs::Header &	_msg_header
	)

get the odometry for received observation

Parameters:

_odometry	odometry for received observation
_msg_header	timestamp of the observation

Definition at line 97 of file mrpt_rbpf_slam_wrapper.cpp.

void PFslamWrapper::publishMapPose ( )

publish beacon or grid map and robot pose

Definition at line 207 of file mrpt_rbpf_slam_wrapper.cpp.

void PFslamWrapper::publishTF ( )

publis tf tree

Definition at line 444 of file mrpt_rbpf_slam_wrapper.cpp.

bool PFslamWrapper::rawlogPlay ( )

play rawlog file

Returns:: true if rawlog file exists and played

Definition at line 359 of file mrpt_rbpf_slam_wrapper.cpp.

void PFslamWrapper::updateSensorPose ( 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 PFslamWrapper::vizBeacons ( )

correct visualization for ro slam (under development)

Definition at line 268 of file mrpt_rbpf_slam_wrapper.cpp.

bool 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 transfor between odometry frame and the robot frame

Parameters:

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