laser_scan.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include <geometry_msgs/Pose.h>
#include <sensor_msgs/LaserScan.h>
#include "mrpt_bridge/time.h"
#include "mrpt_bridge/pose.h"
#include "mrpt_bridge/laser_scan.h"

#include <mrpt/version.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
using namespace mrpt::obs;

namespace mrpt_bridge
{
bool convert(
        const sensor_msgs::LaserScan& _msg, const mrpt::poses::CPose3D& _pose,
        CObservation2DRangeScan& _obj)
{
        mrpt_bridge::convert(_msg.header.stamp, _obj.timestamp);
        _obj.rightToLeft = true;
        _obj.sensorLabel = _msg.header.frame_id;
        _obj.aperture = _msg.angle_max - _msg.angle_min;
        _obj.maxRange = _msg.range_max;
        _obj.sensorPose = _pose;

        ASSERT_(_msg.ranges.size() > 1);

        const size_t N = _msg.ranges.size();
        const double ang_step = _obj.aperture / (N - 1);
        const double fov05 = 0.5 * _obj.aperture;
        const double inv_ang_step = (N - 1) / _obj.aperture;

        _obj.resizeScan(N);
        for (std::size_t i_mrpt = 0; i_mrpt < N; i_mrpt++)
        {
                // ROS indices go from _msg.angle_min to _msg.angle_max, while
                // in MRPT they go from -FOV/2 to +FOV/2.
                int i_ros =
                        inv_ang_step * (-fov05 - _msg.angle_min + ang_step * i_mrpt);
                if (i_ros < 0)
                        i_ros += N;
                else if (i_ros >= (int)N)
                        i_ros -= N;  // wrap around 2PI...

                // set the scan
                const float r = _msg.ranges[i_ros];
                _obj.setScanRange(i_mrpt, r);

                // set the validity of the scan
                const bool r_valid =
                        ((_obj.getScanRange(i_mrpt) < (_msg.range_max * 0.95)) &&
                         (_obj.getScanRange(i_mrpt) > _msg.range_min));
                _obj.setScanRangeValidity(i_mrpt, r_valid);
        }

        return true;
}

bool convert(const CObservation2DRangeScan& _obj, sensor_msgs::LaserScan& _msg)
{
        const size_t nRays = _obj.getScanSize();
        if (!nRays) return false;

        _msg.angle_min = -0.5f * _obj.aperture;
        _msg.angle_max = 0.5f * _obj.aperture;
        _msg.angle_increment = _obj.aperture / (_obj.getScanSize() - 1);

        // setting the following values to zero solves a rviz visualization problem
        _msg.time_increment = 0.0;  // 1./30.; // Anything better?
        _msg.scan_time = 0.0;  // _msg.time_increment; // idem?

        _msg.range_min = 0.02;
        _msg.range_max = _obj.maxRange;

        _msg.ranges.resize(nRays);
        for (size_t i = 0; i < nRays; i++) _msg.ranges[i] = _obj.getScanRange(i);

        // Set header data:
        mrpt_bridge::convert(_obj.timestamp, _msg.header.stamp);
        _msg.header.frame_id = _obj.sensorLabel;

        return true;
}

bool convert(
        const CObservation2DRangeScan& _obj, sensor_msgs::LaserScan& _msg,
        geometry_msgs::Pose& _pose)
{
        convert(_obj, _msg);
        mrpt::poses::CPose3D pose;
        _obj.getSensorPose(pose);
        convert(pose, _pose);
        return true;
}
}  // namespace mrpt_bridge