SlamKarto Class Reference

Public Member Functions
void	laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan)
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
	SlamKarto ()
	~SlamKarto ()

Private Member Functions
bool	addScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose)
karto::LaserRangeFinder *	getLaser (const sensor_msgs::LaserScan::ConstPtr &scan)
bool	getOdomPose (karto::Pose2 &karto_pose, const ros::Time &t)
void	publishGraphVisualization ()
void	publishLoop (double transform_publish_period)
void	publishTransform ()
bool	updateMap ()

Private Attributes
std::string	base_frame_
karto::Dataset *	dataset_
bool	got_map_
bool	inverted_laser_
int	laser_count_
std::map< std::string, karto::LaserRangeFinder * >	lasers_
std::map< std::string, bool >	lasers_inverted_
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_
karto::Mapper *	mapper_
unsigned	marker_count_
ros::Publisher	marker_publisher_
ros::NodeHandle	node_
std::string	odom_frame_
double	resolution_
tf::MessageFilter< sensor_msgs::LaserScan > *	scan_filter_
message_filters::Subscriber< sensor_msgs::LaserScan > *	scan_filter_sub_
SpaSolver *	solver_
ros::ServiceServer	ss_
ros::Publisher	sst_
ros::Publisher	sstm_
tf::TransformListener	tf_
tf::TransformBroadcaster *	tfB_
int	throttle_scans_
boost::thread *	transform_thread_

Detailed Description

Definition at line 52 of file slam_karto.cpp.

Constructor & Destructor Documentation

SlamKarto::SlamKarto

(

)

Definition at line 113 of file slam_karto.cpp.

SlamKarto::~SlamKarto

(

)

Definition at line 287 of file slam_karto.cpp.

Member Function Documentation

bool SlamKarto::addScan ( karto::LaserRangeFinder *  laser, const sensor_msgs::LaserScan::ConstPtr &  scan, karto::Pose2 &  karto_pose  )

private

Definition at line 637 of file slam_karto.cpp.

karto::LaserRangeFinder * SlamKarto::getLaser ( const sensor_msgs::LaserScan::ConstPtr &  scan )

private

Definition at line 331 of file slam_karto.cpp.

bool SlamKarto::getOdomPose ( karto::Pose2 &  karto_pose, const ros::Time &  t  )

private

Definition at line 413 of file slam_karto.cpp.

void SlamKarto::laserCallback

(

const sensor_msgs::LaserScan::ConstPtr &

scan

)

Definition at line 519 of file slam_karto.cpp.

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

Definition at line 707 of file slam_karto.cpp.

void SlamKarto::publishGraphVisualization ( )

private

Definition at line 438 of file slam_karto.cpp.

void SlamKarto::publishLoop ( double  transform_publish_period )

private

Definition at line 309 of file slam_karto.cpp.

void SlamKarto::publishTransform ( )

private

Definition at line 323 of file slam_karto.cpp.

bool SlamKarto::updateMap ( )

private

Definition at line 561 of file slam_karto.cpp.

Member Data Documentation

std::string SlamKarto::base_frame_

private

Definition at line 90 of file slam_karto.cpp.

karto::Dataset* SlamKarto::dataset_

private

Definition at line 99 of file slam_karto.cpp.

bool SlamKarto::got_map_

private

Definition at line 105 of file slam_karto.cpp.

bool SlamKarto::inverted_laser_

private

Definition at line 110 of file slam_karto.cpp.

int SlamKarto::laser_count_

private

Definition at line 106 of file slam_karto.cpp.

std::map<std::string, karto::LaserRangeFinder*> SlamKarto::lasers_

private

Definition at line 101 of file slam_karto.cpp.

std::map<std::string, bool> SlamKarto::lasers_inverted_

private

Definition at line 102 of file slam_karto.cpp.

nav_msgs::GetMap::Response SlamKarto::map_

private

Definition at line 85 of file slam_karto.cpp.

std::string SlamKarto::map_frame_

private

Definition at line 89 of file slam_karto.cpp.

boost::mutex SlamKarto::map_mutex_

private

Definition at line 94 of file slam_karto.cpp.

tf::Transform SlamKarto::map_to_odom_

private

Definition at line 108 of file slam_karto.cpp.

boost::mutex SlamKarto::map_to_odom_mutex_

private

Definition at line 95 of file slam_karto.cpp.

ros::Duration SlamKarto::map_update_interval_

private

Definition at line 92 of file slam_karto.cpp.

karto::Mapper* SlamKarto::mapper_

private

Definition at line 98 of file slam_karto.cpp.

unsigned SlamKarto::marker_count_

private

Definition at line 109 of file slam_karto.cpp.

ros::Publisher SlamKarto::marker_publisher_

private

Definition at line 80 of file slam_karto.cpp.

ros::NodeHandle SlamKarto::node_

private

Definition at line 74 of file slam_karto.cpp.

std::string SlamKarto::odom_frame_

private

Definition at line 88 of file slam_karto.cpp.

double SlamKarto::resolution_

private

Definition at line 93 of file slam_karto.cpp.

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

private

Definition at line 78 of file slam_karto.cpp.

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

private

Definition at line 77 of file slam_karto.cpp.

SpaSolver* SlamKarto::solver_

private

Definition at line 100 of file slam_karto.cpp.

ros::ServiceServer SlamKarto::ss_

private

Definition at line 82 of file slam_karto.cpp.

ros::Publisher SlamKarto::sst_

private

Definition at line 79 of file slam_karto.cpp.

ros::Publisher SlamKarto::sstm_

private

Definition at line 81 of file slam_karto.cpp.

tf::TransformListener SlamKarto::tf_

private

Definition at line 75 of file slam_karto.cpp.

tf::TransformBroadcaster* SlamKarto::tfB_

private

Definition at line 76 of file slam_karto.cpp.

int SlamKarto::throttle_scans_

private

Definition at line 91 of file slam_karto.cpp.

boost::thread* SlamKarto::transform_thread_

private

Definition at line 107 of file slam_karto.cpp.

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

• slam_karto.cpp