mrpt_localization_node_parameters.cpp

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 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#include "mrpt_localization_node.h"
#include "mrpt_localization_node_defaults.h"

PFLocalizationNode::Parameters::Parameters(PFLocalizationNode *p)
    : PFLocalization::Parameters(p), node("~") {
    node.param<double>("rate", rate, MRPT_LOCALIZATION_NODE_DEFAULT_RATE);
    ROS_INFO("rate: %f", rate);
    node.getParam("gui_mrpt", gui_mrpt);
    ROS_INFO("gui_mrpt:  %s", (gui_mrpt ? "true" : "false"));
    node.param<int>("parameter_update_skip", parameter_update_skip, MRPT_LOCALIZATION_NODE_DEFAULT_PARAMETER_UPDATE_SKIP);
    ROS_INFO("parameter_update_skip: %i", parameter_update_skip);
    node.getParam("ini_file", iniFile);
    ROS_INFO("ini_file: %s", iniFile.c_str());
    node.getParam("map_file", mapFile);
    ROS_INFO("map_file: %s", mapFile.c_str());
    node.param<std::string>("tf_prefix", tf_prefix, "");
    ROS_INFO("tf_prefix: %s", tf_prefix.c_str());
    node.param<std::string>("global_frame_id", global_frame_id, "map");
    ROS_INFO("global_frame_id: %s", global_frame_id.c_str());
    node.param<std::string>("odom_frame_id", odom_frame_id, "odom");
    ROS_INFO("odom_frame_id: %s", odom_frame_id.c_str());
    node.param<std::string>("base_frame_id", base_frame_id, "base_link");
    ROS_INFO("base_frame_id: %s", base_frame_id.c_str());

    reconfigureFnc_ = boost::bind(&PFLocalizationNode::Parameters::callbackParameters, this ,  _1, _2);
    reconfigureServer_.setCallback(reconfigureFnc_);
}

void PFLocalizationNode::Parameters::update(const unsigned long &loop_count) {
    if(loop_count % parameter_update_skip) return;
    node.getParam("debug", debug);
    if(loop_count == 0) ROS_INFO("debug:  %s", (debug ? "true" : "false"));
    {
        int v = particlecloud_update_skip;
        node.param<int>("particlecloud_update_skip", particlecloud_update_skip, MRPT_LOCALIZATION_NODE_DEFAULT_PARTICLECLOUD_UPDATE_SKIP);
        if(v != particlecloud_update_skip) ROS_INFO("particlecloud_update_skip: %i", particlecloud_update_skip);
    }
    {
        int v = map_update_skip;
        node.param<int>("map_update_skip", map_update_skip, MRPT_LOCALIZATION_NODE_DEFAULT_MAP_UPDATE_SKIP);
        if(v != map_update_skip) ROS_INFO("map_update_skip: %i", map_update_skip);
    }
}

void PFLocalizationNode::Parameters::callbackParameters (mrpt_localization::MotionConfig &config, uint32_t level ) {
    if(config.motion_noise_type == MOTION_MODEL_GAUSSIAN) {
        motion_model_options->modelSelection = mrpt::slam::CActionRobotMovement2D::mmGaussian;
        motion_model_options->gausianModel.a1 = config.gaussian_alpha_1;
        motion_model_options->gausianModel.a2 = config.gaussian_alpha_2;
        motion_model_options->gausianModel.a3 = config.gaussian_alpha_3;
        motion_model_options->gausianModel.a4 = config.gaussian_alpha_4;
        motion_model_options->gausianModel.minStdXY  = config.gaussian_alpha_xy;
        motion_model_options->gausianModel.minStdPHI = config.gaussian_alpha_phi;
        ROS_INFO("gausianModel.type: gaussian");
        ROS_INFO("gausianModel.a1: %f", motion_model_options->gausianModel.a1);
        ROS_INFO("gausianModel.a2: %f", motion_model_options->gausianModel.a2);
        ROS_INFO("gausianModel.a3: %f", motion_model_options->gausianModel.a3);
        ROS_INFO("gausianModel.a4: %f", motion_model_options->gausianModel.a4);
        ROS_INFO("gausianModel.minStdXY: %f", motion_model_options->gausianModel.minStdXY);
        ROS_INFO("gausianModel.minStdPHI: %f", motion_model_options->gausianModel.minStdPHI);
    } else {
        ROS_INFO("We support at the moment only gaussian motion models");
    }
    *use_motion_model_default_options = config.use_default_motion;
    ROS_INFO("use_motion_model_default_options:  %s", (use_motion_model_default_options ? "true" : "false"));
    motion_model_default_options->gausianModel.minStdXY = config.default_noise_xy;
    ROS_INFO("default_noise_xy: %f", motion_model_default_options->gausianModel.minStdXY);
    motion_model_default_options->gausianModel.minStdPHI = config.default_noise_phi;
    ROS_INFO("default_noise_phi: %f", motion_model_default_options->gausianModel.minStdPHI);
}