tango_ros_native: tango_ros_nodelet.h File Reference

#include <atomic>
#include <chrono>
#include <condition_variable>
#include <mutex>
#include <string>
#include <thread>
#include <time.h>
#include <tango_3d_reconstruction/tango_3d_reconstruction_api.h>
#include <tango_client_api/tango_client_api.h>
#include <tango_support/tango_support.h>
#include <opencv2/core/core.hpp>
#include <camera_info_manager/camera_info_manager.h>
#include <cv_bridge/cv_bridge.h>
#include <geometry_msgs/TransformStamped.h>
#include <image_geometry/pinhole_camera_model.h>
#include <image_transport/image_transport.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nodelet/nodelet.h>
#include <ros/ros.h>
#include <ros/node_handle.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <tango_ros_messages/GetMapName.h>
#include <tango_ros_messages/GetMapUuids.h>
#include <tango_ros_messages/LoadOccupancyGrid.h>
#include <tango_ros_messages/SaveMap.h>
#include <tango_ros_messages/TangoConnect.h>
#include <tf/transform_broadcaster.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <visualization_msgs/MarkerArray.h>
#include "tango_ros_native/PublisherConfig.h"

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Classes
struct	tango_ros_native::PublishThread

class	tango_ros_native::TangoRosNodelet

Namespaces
	tango_ros_native

Enumerations
enum	tango_ros_native::LocalizationMode { tango_ros_native::ODOMETRY = 1, tango_ros_native::ONLINE_SLAM = 2, tango_ros_native::LOCALIZATION = 3 }

enum	tango_ros_native::TangoStatus { tango_ros_native::TangoStatus::UNKNOWN = 0, tango_ros_native::TangoStatus::SERVICE_NOT_CONNECTED, tango_ros_native::TangoStatus::NO_FIRST_VALID_POSE, tango_ros_native::TangoStatus::SERVICE_CONNECTED }

Variables
const std::string	tango_ros_native::AREA_DESCRIPTION_FRAME_ID_PARAM_NAME = "area_description_frame_id"

const std::string	tango_ros_native::AREA_DESCRIPTION_T_START_OF_SERVICE_TOPIC_NAME = "transform/area_description_T_start_of_service"

const std::string	tango_ros_native::COLOR_IMAGE_TOPIC_NAME = "camera/color_1/image_raw"

const std::string	tango_ros_native::COLOR_MESH_TOPIC_NAME = "reconstruction/mesh"

const std::string	tango_ros_native::COLOR_RECTIFIED_IMAGE_TOPIC_NAME = "camera/color_1/image_rect"

const std::string	tango_ros_native::CONNECT_SERVICE_NAME = "connect"

const std::string	tango_ros_native::CREATE_NEW_MAP_PARAM_NAME = "create_new_map"

const std::string	tango_ros_native::DATASET_DEFAULT_DIRECTORY = "/sdcard/tango_ros_streamer/datasets/"

const std::string	tango_ros_native::DATASET_DIRECTORY_PARAM_NAME = "dataset_directory"

const std::string	tango_ros_native::DATASET_UUID_PARAM_NAME = "dataset_uuid"

const std::string	tango_ros_native::ENABLE_3DR_MESH_PARAM_NAME = "enable_3dr_mesh"

const std::string	tango_ros_native::ENABLE_3DR_OCCUPANCY_GRID_PARAM_NAME = "enable_3dr_occupancy_grid"

const std::string	tango_ros_native::ENABLE_COLOR_CAMERA_PARAM_NAME = "enable_color_camera"

const std::string	tango_ros_native::ENABLE_DEPTH_PARAM_NAME = "enable_depth"

const std::string	tango_ros_native::FISHEYE_IMAGE_TOPIC_NAME = "camera/fisheye_1/image_raw"

const std::string	tango_ros_native::FISHEYE_RECTIFIED_IMAGE_TOPIC_NAME = "camera/fisheye_1/image_rect"

const std::string	tango_ros_native::GET_MAP_NAME_SERVICE_NAME = "get_map_name"

const std::string	tango_ros_native::GET_MAP_UUIDS_SERVICE_NAME = "get_map_uuids"

const float	tango_ros_native::LASER_SCAN_ANGLE_INCREMENT = 3.1415 / 360

const float	tango_ros_native::LASER_SCAN_ANGLE_MAX = 3.1415

const float	tango_ros_native::LASER_SCAN_ANGLE_MIN = 0.

const std::string	tango_ros_native::LASER_SCAN_FRAME_ID = "laser"

const float	tango_ros_native::LASER_SCAN_SCAN_TIME = 0.3333

const float	tango_ros_native::LASER_SCAN_TIME_INCREMENT = 0.0

const std::string	tango_ros_native::LASER_SCAN_TOPIC_NAME = "laser_scan"

const std::string	tango_ros_native::LOAD_OCCUPANCY_GRID_SERVICE_NAME = "load_occupancy_grid"

const std::string	tango_ros_native::LOCALIZATION_MAP_UUID_PARAM_NAME = "localization_map_uuid"

const std::string	tango_ros_native::LOCALIZATION_MODE_PARAM_NAME = "localization_mode"

const int	tango_ros_native::NUMBER_OF_STATIC_TRANSFORMS = 5

const std::string	tango_ros_native::OCCUPANCY_GRID_DEFAULT_DIRECTORY = "/sdcard/tango_ros_streamer/occupancy_grids/"

const std::string	tango_ros_native::OCCUPANCY_GRID_DIRECTORY_PARAM_NAME = "occupancy_grid_directory"

const std::string	tango_ros_native::OCCUPANCY_GRID_TOPIC_NAME = "reconstruction/occupancy_grid"

const std::string	tango_ros_native::POINT_CLOUD_TOPIC_NAME = "point_cloud"

const std::string	tango_ros_native::PUBLISH_POSE_ON_TF_PARAM_NAME = "publish_pose_on_tf"

const std::string	tango_ros_native::SAVE_MAP_SERVICE_NAME = "save_map"

const std::string	tango_ros_native::START_OF_SERVICE_FRAME_ID_PARAM_NAME = "start_of_service_frame_id"

const std::string	tango_ros_native::START_OF_SERVICE_T_DEVICE_TOPIC_NAME = "transform/start_of_service_T_device"

const std::string	tango_ros_native::STATIC_OCCUPANCY_GRID_TOPIC_NAME = "static_occupancy_grid"

const std::string	tango_ros_native::TANGO_STATUS_TOPIC_NAME = "status"

const std::string	tango_ros_native::USE_TF_STATIC_PARAM_NAME = "use_tf_static"

Classes

Namespaces

Enumerations

Variables