The PFslamWrapper class provides the ROS wrapper for Rao-Blackwellized Particle filter SLAM from MRPT libraries. More...

#include <mrpt_rbpf_slam_wrapper.h>

Inheritance diagram for mrpt_rbpf_slam::PFslamWrapper:

[legend]

Public Member Functions
void	callbackBeacon (const mrpt_msgs::ObservationRangeBeacon &msg)
	Callback function for the beacons. More...

bool	getParams (const ros::NodeHandle &nh_p)
	Read the parameters from launch file. More...

bool	init (ros::NodeHandle &nh)
	Initialize publishers subscribers and RBPF slam. More...

void	laserCallback (const sensor_msgs::LaserScan &msg)
	Callback function for the laser scans. More...

void	odometryForCallback (mrpt::obs::CObservationOdometry::Ptr &odometry, const std_msgs::Header &msg_header)
	Get the odometry for received observation. More...

	PFslamWrapper ()

void	publishMapPose ()
	Publish beacon or grid map and robot pose. More...

void	publishTF ()
	Publish tf tree. More...

bool	rawlogPlay ()
	Play rawlog file. More...

void	updateSensorPose (const std::string &frame_id)
	Update the pose of the sensor with respect to the robot. More...

void	vizBeacons ()
	Correct visualization for ro slam. More...

bool	waitForTransform (mrpt::poses::CPose3D &des, const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01))
	Wait for transform between odometry frame and the robot frame. More...

	~PFslamWrapper ()=default

Public Member Functions inherited from mrpt_rbpf_slam::PFslam
void	init3Dwindow ()

void	initSlam (Options options)
	initialize the SLAM More...

void	observation (const mrpt::obs::CSensoryFrame::ConstPtr sensory_frame, const mrpt::obs::CObservationOdometry::ConstPtr odometry)
	Calculate the actions from odometry model for current observation. More...

	PFslam ()=default

void	readIniFile (const std::string &ini_filename)
	Read ini file. More...

void	readRawlog (const std::string &rawlog_filename, std::vector< std::pair< mrpt::obs::CActionCollection, mrpt::obs::CSensoryFrame >> &data)
	Read pairs of actions and observations from rawlog file. More...

void	run3Dwindow ()

virtual	~PFslam ()

Private Attributes
std::string	base_frame_id_
	robot frame More...

std::map< std::string, mrpt::poses::CPose3D >	beacon_poses_
	beacon poses with respect to the map More...

ros::Publisher	beacon_viz_pub_
	publishers for map and pose particles More...

std::vector< std::pair< mrpt::obs::CActionCollection, mrpt::obs::CSensoryFrame > >	data_

std::string	global_frame_id_
	/map frame More...

std::string	ini_filename_
	name of ini file More...

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::string	odom_frame_id_
	/odom frame More...

ros::Publisher	pub_map_

ros::Publisher	pub_metadata_

ros::Publisher	pub_particles_

ros::Publisher	pub_particles_beacons_

std::string	rawlog_filename_
	name of rawlog file More...

bool	rawlog_play_ { false }
	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::Subscriber >	sensorSub_
	list of sensors topics More...

float	t_exec_
	the time which take one SLAM update execution More...

tf::TransformBroadcaster	tf_broadcaster_
	transform broadcaster More...

mrpt::utils::CTicTac	tictac_

bool	update_sensor_pose_
	on true the sensor pose is updated on every sensor reading More...

std::vector< mrpt::opengl::CEllipsoid::Ptr >	viz_beacons_

Additional Inherited Members
Public Attributes inherited from mrpt_rbpf_slam::PFslam
struct mrpt_rbpf_slam::PFslam::Options	options_

Protected Attributes inherited from mrpt_rbpf_slam::PFslam
mrpt::obs::CActionCollection::Ptr	action_
	actions More...

mrpt::poses::CPose3DPDFParticles	curPDF
	current robot pose More...

mrpt::slam::CMetricMapBuilderRBPF	mapBuilder_
	map builder More...

const mrpt::maps::CMultiMetricMap *	metric_map_
	receive map after iteration of SLAM to metric map More...

mrpt::poses::CPose2D	odomLastObservation_
	last observation of odometry More...

mrpt::obs::CSensoryFrame::Ptr	sensory_frame_
	observations More...

mrpt::system::TTimeStamp	timeLastUpdate_
	last update of the pose and map More...

bool	use_motion_model_default_options_
	used default odom_params More...

mrpt::gui::CDisplayWindow3D::Ptr	win3D_
	MRPT window. More...

Detailed Description

The PFslamWrapper class provides the ROS wrapper for Rao-Blackwellized Particle filter SLAM from MRPT libraries.

Definition at line 49 of file mrpt_rbpf_slam_wrapper.h.

Constructor & Destructor Documentation

mrpt_rbpf_slam::PFslamWrapper::PFslamWrapper ( )

Definition at line 16 of file mrpt_rbpf_slam_wrapper.cpp.

mrpt_rbpf_slam::PFslamWrapper::~PFslamWrapper ( )

default

Member Function Documentation

void mrpt_rbpf_slam::PFslamWrapper::callbackBeacon ( const mrpt_msgs::ObservationRangeBeacon & msg )

Callback function for the beacons.

Given the range only observation wait for odometry, create the pair of action and observation, implement one SLAM update, publish map and pose.

Parameters

msg	the beacon message

Definition at line 182 of file mrpt_rbpf_slam_wrapper.cpp.

bool mrpt_rbpf_slam::PFslamWrapper::getParams ( const ros::NodeHandle & nh_p )

Read the parameters from launch file.

Definition at line 20 of file mrpt_rbpf_slam_wrapper.cpp.

bool mrpt_rbpf_slam::PFslamWrapper::init ( ros::NodeHandle & nh )

Initialize publishers subscribers and RBPF slam.

Create publishers///

Create subscribers///

Definition at line 59 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::laserCallback ( const sensor_msgs::LaserScan & msg )

Callback function for the laser scans.

Given the laser scans wait for odometry, create the pair of action and observation, implement one SLAM update, publish map and pose.

Parameters

msg	the laser scan message

Definition at line 148 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::odometryForCallback	(	mrpt::obs::CObservationOdometry::Ptr &	odometry,
		const std_msgs::Header &	msg_header
	)

Get the odometry for received observation.

Parameters

[out]	odometry	odometry for received observation
[in]	msg_header	timestamp of the observation

Definition at line 113 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::publishMapPose ( )

Publish beacon or grid map and robot pose.

Definition at line 217 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::publishTF ( )

Publish tf tree.

Definition at line 460 of file mrpt_rbpf_slam_wrapper.cpp.

bool mrpt_rbpf_slam::PFslamWrapper::rawlogPlay ( )

Play rawlog file.

Returns: true if rawlog file exists and played

Definition at line 371 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::updateSensorPose ( const std::string & frame_id )

Update the pose of the sensor with respect to the robot.

Parameters

frame_id the frame of the sensors

Definition at line 345 of file mrpt_rbpf_slam_wrapper.cpp.

void mrpt_rbpf_slam::PFslamWrapper::vizBeacons ( )

Correct visualization for ro slam.

Definition at line 287 of file mrpt_rbpf_slam_wrapper.cpp.

bool mrpt_rbpf_slam::PFslamWrapper::waitForTransform	(	mrpt::poses::CPose3D &	des,
		const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration &	timeout,
		const ros::Duration &	polling_sleep_duration = `ros::Duration(0.01)`
	)

Wait for transform between odometry frame and the robot frame.

Parameters

[out]	des	position of the robot with respect to odometry frame
[in]	target_frame	the odometry tf frame
[in]	source_frame	the robot tf frame
[in]	time	timestamp of the observation for which we want to retrieve the position of the robot
[in]	timeout	timeout for odometry waiting
[in]	polling_sleep_duration	timeout for transform wait

Returns: true if there is transform from odometry to the robot

Definition at line 129 of file mrpt_rbpf_slam_wrapper.cpp.

Member Data Documentation

std::string mrpt_rbpf_slam::PFslamWrapper::base_frame_id_

private

robot frame

Definition at line 152 of file mrpt_rbpf_slam_wrapper.h.

std::map<std::string, mrpt::poses::CPose3D> mrpt_rbpf_slam::PFslamWrapper::beacon_poses_

private

beacon poses with respect to the map

Definition at line 159 of file mrpt_rbpf_slam_wrapper.h.

ros::Publisher mrpt_rbpf_slam::PFslamWrapper::beacon_viz_pub_

private

publishers for map and pose particles

Definition at line 171 of file mrpt_rbpf_slam_wrapper.h.

std::vector<std::pair<mrpt::obs::CActionCollection, mrpt::obs::CSensoryFrame> > mrpt_rbpf_slam::PFslamWrapper::data_

private

vector of pairs of actions and obsrvations from rawlog file

Definition at line 165 of file mrpt_rbpf_slam_wrapper.h.

std::string mrpt_rbpf_slam::PFslamWrapper::global_frame_id_

private

/map frame

Definition at line 150 of file mrpt_rbpf_slam_wrapper.h.

std::string mrpt_rbpf_slam::PFslamWrapper::ini_filename_

private

name of ini file

Definition at line 149 of file mrpt_rbpf_slam_wrapper.h.

std::map<std::string, mrpt::poses::CPose3D> mrpt_rbpf_slam::PFslamWrapper::laser_poses_

private

laser scan poses with respect to the map

Definition at line 158 of file mrpt_rbpf_slam_wrapper.h.

tf::TransformListener mrpt_rbpf_slam::PFslamWrapper::listenerTF_

private

transform listener

Definition at line 174 of file mrpt_rbpf_slam_wrapper.h.

std::string mrpt_rbpf_slam::PFslamWrapper::odom_frame_id_

private

/odom frame

Definition at line 151 of file mrpt_rbpf_slam_wrapper.h.

ros::Publisher mrpt_rbpf_slam::PFslamWrapper::pub_map_

private

Definition at line 171 of file mrpt_rbpf_slam_wrapper.h.

ros::Publisher mrpt_rbpf_slam::PFslamWrapper::pub_metadata_

private

Definition at line 171 of file mrpt_rbpf_slam_wrapper.h.

ros::Publisher mrpt_rbpf_slam::PFslamWrapper::pub_particles_

private

Definition at line 171 of file mrpt_rbpf_slam_wrapper.h.

ros::Publisher mrpt_rbpf_slam::PFslamWrapper::pub_particles_beacons_

private

Definition at line 171 of file mrpt_rbpf_slam_wrapper.h.

std::string mrpt_rbpf_slam::PFslamWrapper::rawlog_filename_

private

name of rawlog file

Definition at line 148 of file mrpt_rbpf_slam_wrapper.h.

bool mrpt_rbpf_slam::PFslamWrapper::rawlog_play_ { false }

private

true if rawlog file exists

Definition at line 146 of file mrpt_rbpf_slam_wrapper.h.

double mrpt_rbpf_slam::PFslamWrapper::rawlog_play_delay_

private

delay of replay from rawlog file

Definition at line 145 of file mrpt_rbpf_slam_wrapper.h.

std::string mrpt_rbpf_slam::PFslamWrapper::sensor_source_

private

2D laser scans

Definition at line 155 of file mrpt_rbpf_slam_wrapper.h.

std::vector<ros::Subscriber> mrpt_rbpf_slam::PFslamWrapper::sensorSub_

private

list of sensors topics

Definition at line 162 of file mrpt_rbpf_slam_wrapper.h.

float mrpt_rbpf_slam::PFslamWrapper::t_exec_

private

the time which take one SLAM update execution

Definition at line 181 of file mrpt_rbpf_slam_wrapper.h.

tf::TransformBroadcaster mrpt_rbpf_slam::PFslamWrapper::tf_broadcaster_

private

transform broadcaster

Definition at line 175 of file mrpt_rbpf_slam_wrapper.h.

mrpt::utils::CTicTac mrpt_rbpf_slam::PFslamWrapper::tictac_

private

Definition at line 179 of file mrpt_rbpf_slam_wrapper.h.

bool mrpt_rbpf_slam::PFslamWrapper::update_sensor_pose_

private

on true the sensor pose is updated on every sensor reading

Definition at line 156 of file mrpt_rbpf_slam_wrapper.h.

std::vector<mrpt::opengl::CEllipsoid::Ptr> mrpt_rbpf_slam::PFslamWrapper::viz_beacons_

private

Definition at line 169 of file mrpt_rbpf_slam_wrapper.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation