OdometryROS.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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*/
 
#ifndef ODOMETRYROS_H_
#define ODOMETRYROS_H_
 
#include <ros/ros.h>
#include <nodelet/nodelet.h>
 
#include <tf2_ros/transform_broadcaster.h>
#include <tf/transform_listener.h>
 
#include <std_srvs/Empty.h>
#include <std_msgs/Header.h>
#include <sensor_msgs/Imu.h>
 
#include <diagnostic_updater/diagnostic_updater.h>
 
#include <rtabmap_msgs/ResetPose.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/utilite/UThread.h>
 
#include <boost/thread.hpp>
 
#include "rtabmap_util/ULogToRosout.h"
#include "rtabmap_sync/SyncDiagnostic.h"
 
namespace rtabmap {
class Odometry;
}
 
namespace rtabmap_odom {
 
class OdometryROS : public nodelet::Nodelet, public UThread
{
 
public:
        OdometryROS(bool stereoParams, bool visParams, bool icpParams);
        virtual ~OdometryROS();
 
        void processData(rtabmap::SensorData & data, const std_msgs::Header & header);
 
        bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool resetToPose(rtabmap_msgs::ResetPose::Request&, rtabmap_msgs::ResetPose::Response&);
        bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
        bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
 
        const std::string & frameId() const {return frameId_;}
        const std::string & odomFrameId() const {return odomFrameId_;}
        const std::string & guessFrameId() const {return guessFrameId_;}
        const rtabmap::ParametersMap & parameters() const {return parameters_;}
        bool isPaused() const {return paused_;}
 
protected:
        void initDiagnosticMsg(const std::string & subscribedTopicsMsg, bool approxSync, const std::string & subscribedTopic = "");
 
        virtual void flushCallbacks() = 0;
        tf::TransformListener & tfListener() {return tfListener_;}
        double waitForTransformDuration() const {return waitForTransform_?waitForTransformDuration_:0.0;}
        rtabmap::Transform velocityGuess() const;
        double previousStamp() const {return previousStamp_;}
        virtual void postProcessData(const rtabmap::SensorData & data, const std_msgs::Header & header) const {}
 
private:
        virtual void onInit();
        virtual void onOdomInit() = 0;
        virtual void updateParameters(rtabmap::ParametersMap & parameters) {}
 
        virtual void mainLoop();
        virtual void mainLoopKill();
 
        void callbackIMU(const sensor_msgs::ImuConstPtr& msg);
        void reset(const rtabmap::Transform & pose = rtabmap::Transform::getIdentity());
 
private:
        rtabmap::Odometry * odometry_;
 
        // parameters
        std::string frameId_;
        std::string odomFrameId_;
        std::string groundTruthFrameId_;
        std::string groundTruthBaseFrameId_;
        std::string guessFrameId_;
        double guessMinTranslation_;
        double guessMinRotation_;
        double guessMinTime_;
        bool publishTf_;
        bool waitForTransform_;
        double waitForTransformDuration_;
        bool publishNullWhenLost_;
        bool publishCompressedSensorData_;
        rtabmap::ParametersMap parameters_;
 
        ros::Publisher odomPub_;
        ros::Publisher odomInfoPub_;
        ros::Publisher odomInfoLitePub_;
        ros::Publisher odomLocalMap_;
        ros::Publisher odomLocalScanMap_;
        ros::Publisher odomLastFrame_;
        ros::Publisher odomRgbdImagePub_;
        ros::Publisher odomSensorDataPub_;
        ros::Publisher odomSensorDataFeaturesPub_;
        ros::Publisher odomSensorDataCompressedPub_;
        ros::ServiceServer resetSrv_;
        ros::ServiceServer resetToPoseSrv_;
        ros::ServiceServer pauseSrv_;
        ros::ServiceServer resumeSrv_;
        ros::ServiceServer setLogDebugSrv_;
        ros::ServiceServer setLogInfoSrv_;
        ros::ServiceServer setLogWarnSrv_;
        ros::ServiceServer setLogErrorSrv_;
        tf2_ros::TransformBroadcaster tfBroadcaster_;
        tf::TransformListener tfListener_;
        ros::Subscriber imuSub_;
 
        // Safe-threading
        UMutex imuMutex_;
        UMutex dataMutex_;      
        USemaphore dataReady_;
        rtabmap::SensorData dataToProcess_;
        std_msgs::Header dataHeaderToProcess_;
        bool bufferedDataToProcess_;
 
        bool paused_;
        int resetCountdown_;
        int resetCurrentCount_;
        bool stereoParams_;
        bool visParams_;
        bool icpParams_;
        rtabmap::Transform guess_;
        rtabmap::Transform guessPreviousPose_;
        double previousStamp_;
        double expectedUpdateRate_;
        double maxUpdateRate_;
        double minUpdateRate_;
        std::string compressionImgFormat_;
        bool compressionParallelized_;
        int odomStrategy_;
        bool waitIMUToinit_;
        bool imuProcessed_;
        std::map<double, rtabmap::IMU> imus_;
 
        rtabmap_util::ULogToRosout ulogToRosout_;
 
        class OdomStatusTask : public diagnostic_updater::DiagnosticTask
        {
        public:
                OdomStatusTask();
                void setStatus(bool isLost);
                void run(diagnostic_updater::DiagnosticStatusWrapper &stat);
        private:
                bool lost_;
                bool dataReceived_;
        };
        OdomStatusTask statusDiagnostic_;
        std::unique_ptr<rtabmap_sync::SyncDiagnostic> syncDiagnostic_;
};
 
}
 
#endif