Public Member Functions | Protected Attributes | List of all members
ICPslamWrapper Class Reference

The ICPslamWrapper class provides 2d icp based SLAM from MRPT libraries. More...

#include <mrpt_icp_slam_2d_wrapper.h>

Public Member Functions

void get_param ()
 read the parameters from launch file More...
 
 ICPslamWrapper ()
 constructor More...
 
void init ()
 initialize publishers subscribers and icp slam More...
 
void init3Dwindow ()
 init 3D window from mrpt lib More...
 
bool is_file_exists (const std::string &name)
 check the existance of the file More...
 
void laserCallback (const sensor_msgs::LaserScan &_msg)
 callback function for the laser scans More...
 
void publishMapPose ()
 publish point and/or grid map and robot pose More...
 
void publishTF ()
 publis tf tree More...
 
void publishTrajectoryTimerCallback (const ros::TimerEvent &event)
 the callback for publish trajectory More...
 
bool rawlogPlay ()
 play rawlog file More...
 
void read_iniFile (std::string ini_filename)
 read ini file More...
 
void run3Dwindow ()
 run 3D window update from mrpt lib More...
 
void updateSensorPose (std::string _frame_id)
 update the pose of the sensor with respect to the robot More...
 
void updateTrajectoryTimerCallback (const ros::TimerEvent &event)
 the callback for update trajectory More...
 
 ~ICPslamWrapper ()
 destructor More...
 

Protected Attributes

std::string base_frame_id
 robot frame More...
 
bool CAMERA_3DSCENE_FOLLOWS_ROBOT
 
std::string global_frame_id
 /map frame More...
 
std::string ini_filename
 name of ini file More...
 
bool isObsBasedRawlog
 
std::map< std::string, mrpt::poses::CPose3D > laser_poses_
 laser scan poses with respect to the map More...
 
tf::TransformListener listenerTF_
 transform listener More...
 
std::vector< CObservation2DRangeScan::Ptr > lst_current_laser_scans
 
CMetricMapBuilderICP mapBuilder
 icp slam class More...
 
const CMultiMetricMap * metric_map_
 receive map after iteration of SLAM to metric map More...
 
ros::NodeHandle n_
 Node Handle. More...
 
CObservation::Ptr observation
 
CSensoryFrame::Ptr observations
 
std::string odom_frame_id
 /odom frame More...
 
nav_msgs::Path path
 trajectory path More...
 
geometry_msgs::PoseStamped pose
 the robot pose More...
 
ros::Publisher pub_map_
 
ros::Publisher pub_metadata_
 
ros::Publisher pub_point_cloud_
 publishers for map and pose particles More...
 
ros::Publisher pub_pose_
 
ros::Timer publish_trajectory_timer
 timer for publish trajectory More...
 
std::string rawlog_filename
 name of rawlog file More...
 
bool rawlog_play_
 true if rawlog file exists More...
 
double rawlog_play_delay
 delay of replay from rawlog file More...
 
std::string sensor_source
 2D laser scans More...
 
std::vector< ros::SubscribersensorSub_
 list of sensors topics More...
 
bool SHOW_LASER_SCANS_3D
 
bool SHOW_PROGRESS_3D_REAL_TIME
 
int SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS
 
ros::Time stamp
 timestamp for observations More...
 
float t_exec
 the time which take one SLAM update execution More...
 
tf::TransformBroadcaster tf_broadcaster_
 transform broadcaster More...
 
CTicTac tictac
 timer for SLAM performance evaluation More...
 
mrpt::system::TTimeStamp timeLastUpdate_
 last update of the pose and map More...
 
ros::Publisher trajectory_pub_
 trajectory publisher More...
 
double trajectory_publish_rate
 trajectory publish rate(Hz) More...
 
double trajectory_update_rate
 trajectory update rate(Hz) More...
 
ros::Timer update_trajector_timer
 timer for update trajectory More...
 
mrpt::gui::CDisplayWindow3D::Ptr win3D_
 MRPT window. More...
 

Detailed Description

The ICPslamWrapper class provides 2d icp based SLAM from MRPT libraries.

Definition at line 92 of file mrpt_icp_slam_2d_wrapper.h.

Constructor & Destructor Documentation

ICPslamWrapper::ICPslamWrapper ( )

constructor

Definition at line 22 of file mrpt_icp_slam_2d_wrapper.cpp.

ICPslamWrapper::~ICPslamWrapper ( )

destructor

Definition at line 32 of file mrpt_icp_slam_2d_wrapper.cpp.

Member Function Documentation

void ICPslamWrapper::get_param ( )

read the parameters from launch file

Definition at line 96 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::init ( )

initialize publishers subscribers and icp slam

Create publishers///

Create subscribers///

Definition at line 270 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::init3Dwindow ( )

init 3D window from mrpt lib

Definition at line 125 of file mrpt_icp_slam_2d_wrapper.cpp.

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

check the existance of the file

Returns
true if file exists

Definition at line 50 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::laserCallback ( const sensor_msgs::LaserScan &  _msg)

callback function for the laser scans

Given the laser scans, implement one SLAM update, publish map and pose.

Parameters
_msgthe laser scan message

Definition at line 328 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishMapPose ( )

publish point and/or grid map and robot pose

Definition at line 354 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishTF ( )

publis tf tree

Definition at line 527 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::publishTrajectoryTimerCallback ( const ros::TimerEvent event)

the callback for publish trajectory

Parameters
eventthe event for publish trajectory

Definition at line 565 of file mrpt_icp_slam_2d_wrapper.cpp.

bool ICPslamWrapper::rawlogPlay ( )

play rawlog file

Returns
true if rawlog file exists and played

Definition at line 429 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::read_iniFile ( std::string  ini_filename)

read ini file

Parameters
ini_filenamethe name of the ini file to read

Definition at line 55 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::run3Dwindow ( )

run 3D window update from mrpt lib

Definition at line 137 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::updateSensorPose ( std::string  _frame_id)

update the pose of the sensor with respect to the robot

Parameters
frame_idthe frame of the sensors

Definition at line 405 of file mrpt_icp_slam_2d_wrapper.cpp.

void ICPslamWrapper::updateTrajectoryTimerCallback ( const ros::TimerEvent event)

the callback for update trajectory

Parameters
eventthe event for update trajectory

Definition at line 557 of file mrpt_icp_slam_2d_wrapper.cpp.

Member Data Documentation

std::string ICPslamWrapper::base_frame_id
protected

robot frame

Definition at line 189 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::CAMERA_3DSCENE_FOLLOWS_ROBOT
protected

Definition at line 230 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::global_frame_id
protected

/map frame

Definition at line 187 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::ini_filename
protected

name of ini file

Definition at line 186 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::isObsBasedRawlog
protected

Definition at line 226 of file mrpt_icp_slam_2d_wrapper.h.

std::map<std::string, mrpt::poses::CPose3D> ICPslamWrapper::laser_poses_
protected

laser scan poses with respect to the map

Definition at line 203 of file mrpt_icp_slam_2d_wrapper.h.

tf::TransformListener ICPslamWrapper::listenerTF_
protected

transform listener

Definition at line 212 of file mrpt_icp_slam_2d_wrapper.h.

std::vector<CObservation2DRangeScan::Ptr> ICPslamWrapper::lst_current_laser_scans
protected

Definition at line 225 of file mrpt_icp_slam_2d_wrapper.h.

CMetricMapBuilderICP ICPslamWrapper::mapBuilder
protected

icp slam class

Definition at line 180 of file mrpt_icp_slam_2d_wrapper.h.

const CMultiMetricMap* ICPslamWrapper::metric_map_
protected

receive map after iteration of SLAM to metric map

Definition at line 208 of file mrpt_icp_slam_2d_wrapper.h.

ros::NodeHandle ICPslamWrapper::n_
protected

Node Handle.

Definition at line 181 of file mrpt_icp_slam_2d_wrapper.h.

CObservation::Ptr ICPslamWrapper::observation
protected

Definition at line 218 of file mrpt_icp_slam_2d_wrapper.h.

CSensoryFrame::Ptr ICPslamWrapper::observations
protected

Definition at line 217 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::odom_frame_id
protected

/odom frame

Definition at line 188 of file mrpt_icp_slam_2d_wrapper.h.

nav_msgs::Path ICPslamWrapper::path
protected

trajectory path

Definition at line 193 of file mrpt_icp_slam_2d_wrapper.h.

geometry_msgs::PoseStamped ICPslamWrapper::pose
protected

the robot pose

Definition at line 190 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_map_
protected

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_metadata_
protected

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_point_cloud_
protected

publishers for map and pose particles

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::pub_pose_
protected

Definition at line 210 of file mrpt_icp_slam_2d_wrapper.h.

ros::Timer ICPslamWrapper::publish_trajectory_timer
protected

timer for publish trajectory

Definition at line 196 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::rawlog_filename
protected

name of rawlog file

Definition at line 185 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::rawlog_play_
protected

true if rawlog file exists

Definition at line 183 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::rawlog_play_delay
protected

delay of replay from rawlog file

Definition at line 182 of file mrpt_icp_slam_2d_wrapper.h.

std::string ICPslamWrapper::sensor_source
protected

2D laser scans

Definition at line 202 of file mrpt_icp_slam_2d_wrapper.h.

std::vector<ros::Subscriber> ICPslamWrapper::sensorSub_
protected

list of sensors topics

Definition at line 206 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::SHOW_LASER_SCANS_3D
protected

Definition at line 229 of file mrpt_icp_slam_2d_wrapper.h.

bool ICPslamWrapper::SHOW_PROGRESS_3D_REAL_TIME
protected

Definition at line 227 of file mrpt_icp_slam_2d_wrapper.h.

int ICPslamWrapper::SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS
protected

Definition at line 228 of file mrpt_icp_slam_2d_wrapper.h.

ros::Time ICPslamWrapper::stamp
protected

timestamp for observations

Definition at line 221 of file mrpt_icp_slam_2d_wrapper.h.

float ICPslamWrapper::t_exec
protected

the time which take one SLAM update execution

Definition at line 216 of file mrpt_icp_slam_2d_wrapper.h.

tf::TransformBroadcaster ICPslamWrapper::tf_broadcaster_
protected

transform broadcaster

Definition at line 213 of file mrpt_icp_slam_2d_wrapper.h.

CTicTac ICPslamWrapper::tictac
protected

timer for SLAM performance evaluation

Definition at line 215 of file mrpt_icp_slam_2d_wrapper.h.

mrpt::system::TTimeStamp ICPslamWrapper::timeLastUpdate_
protected

last update of the pose and map

Definition at line 219 of file mrpt_icp_slam_2d_wrapper.h.

ros::Publisher ICPslamWrapper::trajectory_pub_
protected

trajectory publisher

Definition at line 192 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::trajectory_publish_rate
protected

trajectory publish rate(Hz)

Definition at line 199 of file mrpt_icp_slam_2d_wrapper.h.

double ICPslamWrapper::trajectory_update_rate
protected

trajectory update rate(Hz)

Definition at line 198 of file mrpt_icp_slam_2d_wrapper.h.

ros::Timer ICPslamWrapper::update_trajector_timer
protected

timer for update trajectory

Definition at line 195 of file mrpt_icp_slam_2d_wrapper.h.

mrpt::gui::CDisplayWindow3D::Ptr ICPslamWrapper::win3D_
protected

MRPT window.

Definition at line 223 of file mrpt_icp_slam_2d_wrapper.h.


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


mrpt_icp_slam_2d
Author(s): Jose Luis Blanco Claraco, Vladislav Tananaev
autogenerated on Thu Jun 6 2019 19:37:54