Program Listing for File map_builder_bridge.h
↰ Return to documentation for file (/tmp/ws/src/cartographer_ros/cartographer_ros/include/cartographer_ros/map_builder_bridge.h
)
/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_MAP_BUILDER_BRIDGE_H
#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_MAP_BUILDER_BRIDGE_H
#include <memory>
#include <set>
#include <string>
#include <unordered_map>
#include "absl/synchronization/mutex.h"
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer_ros/node_options.h"
#include "cartographer_ros/sensor_bridge.h"
#include "cartographer_ros/tf_bridge.h"
#include "cartographer_ros/trajectory_options.h"
#include "cartographer_ros_msgs/msg/submap_entry.hpp"
#include "cartographer_ros_msgs/msg/submap_list.hpp"
#include "cartographer_ros_msgs/srv/submap_query.hpp"
#include "cartographer_ros_msgs/srv/trajectory_query.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
// Abseil unfortunately pulls in winnt.h, which #defines DELETE.
// Clean up to unbreak visualization_msgs::msg::Marker::DELETE.
#ifdef DELETE
#undef DELETE
#endif
#include "visualization_msgs/msg/marker_array.hpp"
namespace cartographer_ros {
class MapBuilderBridge {
public:
struct LocalTrajectoryData {
// Contains the trajectory data received from local SLAM, after
// it had processed accumulated 'range_data_in_local' and estimated
// current 'local_pose' at 'time'.
struct LocalSlamData {
::cartographer::common::Time time;
::cartographer::transform::Rigid3d local_pose;
::cartographer::sensor::RangeData range_data_in_local;
};
std::shared_ptr<const LocalSlamData> local_slam_data;
cartographer::transform::Rigid3d local_to_map;
std::unique_ptr<cartographer::transform::Rigid3d> published_to_tracking;
TrajectoryOptions trajectory_options;
};
MapBuilderBridge(
const NodeOptions& node_options,
std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder,
tf2_ros::Buffer* tf_buffer);
MapBuilderBridge(const MapBuilderBridge&) = delete;
MapBuilderBridge& operator=(const MapBuilderBridge&) = delete;
void LoadState(const std::string& state_filename, bool load_frozen_state);
int AddTrajectory(
const std::set<
::cartographer::mapping::TrajectoryBuilderInterface::SensorId>&
expected_sensor_ids,
const TrajectoryOptions& trajectory_options);
void FinishTrajectory(int trajectory_id);
void RunFinalOptimization();
bool SerializeState(const std::string& filename,
const bool include_unfinished_submaps);
void HandleSubmapQuery(
const cartographer_ros_msgs::srv::SubmapQuery::Request::SharedPtr request,
cartographer_ros_msgs::srv::SubmapQuery::Response::SharedPtr response);
void HandleTrajectoryQuery(
const cartographer_ros_msgs::srv::TrajectoryQuery::Request::SharedPtr request,
cartographer_ros_msgs::srv::TrajectoryQuery::Response::SharedPtr response);
std::map<int /* trajectory_id */,
::cartographer::mapping::PoseGraphInterface::TrajectoryState>
GetTrajectoryStates();
cartographer_ros_msgs::msg::SubmapList GetSubmapList(rclcpp::Time node_time);
std::unordered_map<int, LocalTrajectoryData> GetLocalTrajectoryData()
LOCKS_EXCLUDED(mutex_);
visualization_msgs::msg::MarkerArray GetTrajectoryNodeList(rclcpp::Time node_time);
visualization_msgs::msg::MarkerArray GetLandmarkPosesList(rclcpp::Time node_time);
visualization_msgs::msg::MarkerArray GetConstraintList(rclcpp::Time node_time);
SensorBridge* sensor_bridge(int trajectory_id);
private:
void OnLocalSlamResult(const int trajectory_id,
const ::cartographer::common::Time time,
const ::cartographer::transform::Rigid3d local_pose,
::cartographer::sensor::RangeData range_data_in_local)
LOCKS_EXCLUDED(mutex_);
absl::Mutex mutex_;
const NodeOptions node_options_;
std::unordered_map<int,
std::shared_ptr<const LocalTrajectoryData::LocalSlamData>>
local_slam_data_ GUARDED_BY(mutex_);
std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder_;
tf2_ros::Buffer* const tf_buffer_;
std::unordered_map<std::string /* landmark ID */, int> landmark_to_index_;
// These are keyed with 'trajectory_id'.
std::unordered_map<int, TrajectoryOptions> trajectory_options_;
std::unordered_map<int, std::unique_ptr<SensorBridge>> sensor_bridges_;
std::unordered_map<int, size_t> trajectory_to_highest_marker_id_;
};
} // namespace cartographer_ros
#endif // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_MAP_BUILDER_BRIDGE_H