Public Member Functions
void	gt_callback (const nav_msgs::Odometry::ConstPtr &msg_in)
void	laserCallback (const sensor_msgs::LaserScan::ConstPtr &msg_in)
void	laserOdomCallback (const sensor_msgs::LaserScan::ConstPtr &msg_in, const nav_msgs::Odometry::ConstPtr &odo_in)
	NDTFuserNode (ros::NodeHandle param_nh)
void	points2Callback (const sensor_msgs::PointCloud2::ConstPtr &msg_in)
void	points2OdomCallback (const sensor_msgs::PointCloud2::ConstPtr &msg_in, const nav_msgs::Odometry::ConstPtr &odo_in)
void	processFrame (pcl::PointCloud< pcl::PointXYZ > &cloud, Eigen::Affine3d Tmotion)
bool	save_map_callback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	~NDTFuserNode ()
Protected Attributes
bool	beHMT
lslgeneric::NDTFuserHMT < pcl::PointXYZ > *	fuser
std::string	fuser_frame
ros::Subscriber	gt_sub
std::string	gt_topic
std::string	init_pose_frame
bool	initPoseFromGT
bool	initPoseFromTF
bool	initPoseSet
message_filters::Subscriber < sensor_msgs::LaserScan > *	laser_sub_
std::string	laser_topic
Eigen::Affine3d	last_odom
boost::mutex	m
std::string	map_dir
std::string	map_name
bool	match2D
bool	matchLaser
boost::mutex	message_m
double	min_laser_range_
unsigned int	nb_added_clouds_
ros::NodeHandle	nh_
message_filters::Subscriber < nav_msgs::Odometry > *	odom_sub_
std::string	odometry_topic
ros::Publisher	output_pub_
bool	plotGTTrack
message_filters::Subscriber < sensor_msgs::PointCloud2 > *	points2_sub_
std::string	points_topic
Eigen::Affine3d	pose_
double	pose_init_p
double	pose_init_r
double	pose_init_t
double	pose_init_x
double	pose_init_y
double	pose_init_z
laser_geometry::LaserProjection	projector_
double	resolution
ros::ServiceServer	save_map_
Eigen::Affine3d	sensor_pose_
double	sensor_pose_p
double	sensor_pose_r
double	sensor_pose_t
double	sensor_pose_x
double	sensor_pose_y
double	sensor_pose_z
double	sensor_range
double	size_x
double	size_y
double	size_z
message_filters::Synchronizer < LaserOdomSync > *	sync_lo_
message_filters::Synchronizer < LaserPoseSync > *	sync_lp_
message_filters::Synchronizer < PointsOdomSync > *	sync_po_
message_filters::Synchronizer < PointsPoseSync > *	sync_pp_
Eigen::Affine3d	T
tf::TransformBroadcaster	tf_
Eigen::Affine3d	this_odom
bool	useOdometry
double	varz
bool	visualize
std::string	world_frame

Detailed Description

Definition at line 37 of file ndt_fuser_node.cpp.

Constructor & Destructor Documentation

NDTFuserNode::NDTFuserNode ( ros::NodeHandle param_nh ) [inline]

topic to wait for point clouds, if available

topic to wait for laser scan messages, if available

if using the HMT fuser, NDT maps are saved in this directory. a word of warning: if you run multiple times with the same directory, the old maps are loaded automatically

initial pose of the vehicle with respect to the map

pose of the sensor with respect to the vehicle odometry frame

size of the map in x/y/z. if using HMT, this is the size of the central tile

range to cutoff sensor measurements

visualize in a local window

only mathc with 3dof

use HMT grid or simple grid.

use standard odometry messages for initial guess

topic to wait for laser scan messages, if available

if we want to compare to a ground truth topic

if we want to get the initial pose of the vehicle relative to a different frame

enable for LaserScan message input