SlamGMapping Class Reference

#include <slam_gmapping.h>

Public Member Functions
void	init ()
void	laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan)
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
void	publishLoop (double transform_publish_period)
void	publishTransform ()
	SlamGMapping ()
	SlamGMapping (ros::NodeHandle &nh, ros::NodeHandle &pnh)
	SlamGMapping (unsigned long int seed, unsigned long int max_duration_buffer)
void	startLiveSlam ()
void	startReplay (const std::string &bag_fname, std::string scan_topic)
	~SlamGMapping ()

Private Member Functions
bool	addScan (const sensor_msgs::LaserScan &scan, GMapping::OrientedPoint &gmap_pose)
double	computePoseEntropy ()
bool	getOdomPose (GMapping::OrientedPoint &gmap_pose, const ros::Time &t)
bool	initMapper (const sensor_msgs::LaserScan &scan)
void	updateMap (const sensor_msgs::LaserScan &scan)

Private Attributes
double	angularUpdate_
double	astep_
std::string	base_frame_
tf::Stamped< tf::Pose >	centered_laser_pose_
double	delta_
bool	do_reverse_range_
ros::Publisher	entropy_publisher_
bool	got_first_scan_
bool	got_map_
GMapping::GridSlamProcessor *	gsp_
GMapping::RangeSensor *	gsp_laser_
unsigned int	gsp_laser_beam_count_
GMapping::OdometrySensor *	gsp_odom_
int	iterations_
int	kernelSize_
double	lasamplerange_
double	lasamplestep_
std::vector< double >	laser_angles_
int	laser_count_
std::string	laser_frame_
double	linearUpdate_
double	llsamplerange_
double	llsamplestep_
double	lsigma_
int	lskip_
double	lstep_
nav_msgs::GetMap::Response	map_
std::string	map_frame_
boost::mutex	map_mutex_
tf::Transform	map_to_odom_
boost::mutex	map_to_odom_mutex_
ros::Duration	map_update_interval_
double	maxRange_
double	maxrange_
double	maxUrange_
double	minimum_score_
ros::NodeHandle	node_
double	occ_thresh_
std::string	odom_frame_
double	ogain_
int	particles_
ros::NodeHandle	private_nh_
double	resampleThreshold_
tf::MessageFilter< sensor_msgs::LaserScan > *	scan_filter_
message_filters::Subscriber< sensor_msgs::LaserScan > *	scan_filter_sub_
unsigned long int	seed_
double	sigma_
double	srr_
double	srt_
ros::ServiceServer	ss_
ros::Publisher	sst_
ros::Publisher	sstm_
double	str_
double	stt_
double	temporalUpdate_
tf::TransformListener	tf_
double	tf_delay_
tf::TransformBroadcaster *	tfB_
int	throttle_scans_
double	transform_publish_period_
boost::thread *	transform_thread_
double	xmax_
double	xmin_
double	ymax_
double	ymin_

Detailed Description

Definition at line 33 of file slam_gmapping.h.

Constructor & Destructor Documentation

SlamGMapping::SlamGMapping

(

)

Definition at line 129 of file slam_gmapping.cpp.

SlamGMapping::SlamGMapping	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	pnh
	)

Definition at line 137 of file slam_gmapping.cpp.

SlamGMapping::SlamGMapping	(	unsigned long int	seed,
		unsigned long int	max_duration_buffer
	)

SlamGMapping::~SlamGMapping

(

)

Definition at line 350 of file slam_gmapping.cpp.

Member Function Documentation

bool SlamGMapping::addScan ( const sensor_msgs::LaserScan &  scan, GMapping::OrientedPoint &  gmap_pose  )

private

Definition at line 538 of file slam_gmapping.cpp.

double SlamGMapping::computePoseEntropy ( )

private

Definition at line 642 of file slam_gmapping.cpp.

bool SlamGMapping::getOdomPose ( GMapping::OrientedPoint &  gmap_pose, const ros::Time &  t  )

private

Definition at line 369 of file slam_gmapping.cpp.

void SlamGMapping::init

(

)

Definition at line 154 of file slam_gmapping.cpp.

bool SlamGMapping::initMapper ( const sensor_msgs::LaserScan &  scan )

private

Todo:

Expose setting an initial pose

Todo:

Check these calls; in the gmapping gui, they use llsamplestep and llsamplerange intead of lasamplestep and lasamplerange. It was probably a typo, but who knows.

Definition at line 393 of file slam_gmapping.cpp.

void SlamGMapping::laserCallback

(

const sensor_msgs::LaserScan::ConstPtr &

scan

)

Definition at line 597 of file slam_gmapping.cpp.

bool SlamGMapping::mapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

Definition at line 772 of file slam_gmapping.cpp.

void SlamGMapping::publishLoop

(

double

transform_publish_period

)

Definition at line 339 of file slam_gmapping.cpp.

void SlamGMapping::publishTransform

(

)

Definition at line 785 of file slam_gmapping.cpp.

void SlamGMapping::startLiveSlam

(

)

Definition at line 256 of file slam_gmapping.cpp.

void SlamGMapping::startReplay	(	const std::string &	bag_fname,
		std::string	scan_topic
	)

Definition at line 269 of file slam_gmapping.cpp.

void SlamGMapping::updateMap ( const sensor_msgs::LaserScan &  scan )

private

Todo:

Sort out the unknown vs. free vs. obstacle thresholding

Definition at line 663 of file slam_gmapping.cpp.

Member Data Documentation

double SlamGMapping::angularUpdate_

private

Definition at line 119 of file slam_gmapping.h.

double SlamGMapping::astep_

private

Definition at line 109 of file slam_gmapping.h.

std::string SlamGMapping::base_frame_

private

Definition at line 90 of file slam_gmapping.h.

tf::Stamped<tf::Pose> SlamGMapping::centered_laser_pose_

private

Definition at line 68 of file slam_gmapping.h.

double SlamGMapping::delta_

private

Definition at line 127 of file slam_gmapping.h.

bool SlamGMapping::do_reverse_range_

private

Definition at line 71 of file slam_gmapping.h.

ros::Publisher SlamGMapping::entropy_publisher_

private

Definition at line 53 of file slam_gmapping.h.

bool SlamGMapping::got_first_scan_

private

Definition at line 75 of file slam_gmapping.h.

bool SlamGMapping::got_map_

private

Definition at line 77 of file slam_gmapping.h.

GMapping::GridSlamProcessor* SlamGMapping::gsp_

private

Definition at line 62 of file slam_gmapping.h.

GMapping::RangeSensor* SlamGMapping::gsp_laser_

private

Definition at line 63 of file slam_gmapping.h.

unsigned int SlamGMapping::gsp_laser_beam_count_

private

Definition at line 72 of file slam_gmapping.h.

GMapping::OdometrySensor* SlamGMapping::gsp_odom_

private

Definition at line 73 of file slam_gmapping.h.

int SlamGMapping::iterations_

private

Definition at line 110 of file slam_gmapping.h.

int SlamGMapping::kernelSize_

private

Definition at line 107 of file slam_gmapping.h.

double SlamGMapping::lasamplerange_

private

Definition at line 131 of file slam_gmapping.h.

double SlamGMapping::lasamplestep_

private

Definition at line 132 of file slam_gmapping.h.

std::vector<double> SlamGMapping::laser_angles_

private

Definition at line 66 of file slam_gmapping.h.

int SlamGMapping::laser_count_

private

Definition at line 85 of file slam_gmapping.h.

std::string SlamGMapping::laser_frame_

private

Definition at line 91 of file slam_gmapping.h.

double SlamGMapping::linearUpdate_

private

Definition at line 118 of file slam_gmapping.h.

double SlamGMapping::llsamplerange_

private

Definition at line 129 of file slam_gmapping.h.

double SlamGMapping::llsamplestep_

private

Definition at line 130 of file slam_gmapping.h.

double SlamGMapping::lsigma_

private

Definition at line 111 of file slam_gmapping.h.

int SlamGMapping::lskip_

private

Definition at line 113 of file slam_gmapping.h.

double SlamGMapping::lstep_

private

Definition at line 108 of file slam_gmapping.h.

nav_msgs::GetMap::Response SlamGMapping::map_

private

Definition at line 78 of file slam_gmapping.h.

std::string SlamGMapping::map_frame_

private

Definition at line 92 of file slam_gmapping.h.

boost::mutex SlamGMapping::map_mutex_

private

Definition at line 83 of file slam_gmapping.h.

tf::Transform SlamGMapping::map_to_odom_

private

Definition at line 81 of file slam_gmapping.h.

boost::mutex SlamGMapping::map_to_odom_mutex_

private

Definition at line 82 of file slam_gmapping.h.

ros::Duration SlamGMapping::map_update_interval_

private

Definition at line 80 of file slam_gmapping.h.

double SlamGMapping::maxRange_

private

Definition at line 102 of file slam_gmapping.h.

double SlamGMapping::maxrange_

private

Definition at line 104 of file slam_gmapping.h.

double SlamGMapping::maxUrange_

private

Definition at line 103 of file slam_gmapping.h.

double SlamGMapping::minimum_score_

private

Definition at line 105 of file slam_gmapping.h.

ros::NodeHandle SlamGMapping::node_

private

Definition at line 52 of file slam_gmapping.h.

double SlamGMapping::occ_thresh_

private

Definition at line 128 of file slam_gmapping.h.

std::string SlamGMapping::odom_frame_

private

Definition at line 93 of file slam_gmapping.h.

double SlamGMapping::ogain_

private

Definition at line 112 of file slam_gmapping.h.

int SlamGMapping::particles_

private

Definition at line 122 of file slam_gmapping.h.

ros::NodeHandle SlamGMapping::private_nh_

private

Definition at line 134 of file slam_gmapping.h.

double SlamGMapping::resampleThreshold_

private

Definition at line 121 of file slam_gmapping.h.

tf::MessageFilter<sensor_msgs::LaserScan>* SlamGMapping::scan_filter_

private

Definition at line 59 of file slam_gmapping.h.

message_filters::Subscriber<sensor_msgs::LaserScan>* SlamGMapping::scan_filter_sub_

private

Definition at line 58 of file slam_gmapping.h.

unsigned long int SlamGMapping::seed_

private

Definition at line 136 of file slam_gmapping.h.

double SlamGMapping::sigma_

private

Definition at line 106 of file slam_gmapping.h.

double SlamGMapping::srr_

private

Definition at line 114 of file slam_gmapping.h.

double SlamGMapping::srt_

private

Definition at line 115 of file slam_gmapping.h.

ros::ServiceServer SlamGMapping::ss_

private

Definition at line 56 of file slam_gmapping.h.

ros::Publisher SlamGMapping::sst_

private

Definition at line 54 of file slam_gmapping.h.

ros::Publisher SlamGMapping::sstm_

private

Definition at line 55 of file slam_gmapping.h.

double SlamGMapping::str_

private

Definition at line 116 of file slam_gmapping.h.

double SlamGMapping::stt_

private

Definition at line 117 of file slam_gmapping.h.

double SlamGMapping::temporalUpdate_

private

Definition at line 120 of file slam_gmapping.h.

tf::TransformListener SlamGMapping::tf_

private

Definition at line 57 of file slam_gmapping.h.

double SlamGMapping::tf_delay_

private

Definition at line 139 of file slam_gmapping.h.

tf::TransformBroadcaster* SlamGMapping::tfB_

private

Definition at line 60 of file slam_gmapping.h.

int SlamGMapping::throttle_scans_

private

Definition at line 86 of file slam_gmapping.h.

double SlamGMapping::transform_publish_period_

private

Definition at line 138 of file slam_gmapping.h.

boost::thread* SlamGMapping::transform_thread_

private

Definition at line 88 of file slam_gmapping.h.

double SlamGMapping::xmax_

private

Definition at line 125 of file slam_gmapping.h.

double SlamGMapping::xmin_

private

Definition at line 123 of file slam_gmapping.h.

double SlamGMapping::ymax_

private

Definition at line 126 of file slam_gmapping.h.

double SlamGMapping::ymin_

private

Definition at line 124 of file slam_gmapping.h.

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

• slam_gmapping.h
• slam_gmapping.cpp