Renames SensorDataProducer to SensorBridge. (#90)

cartographer_ros/CMakeLists.txt

@@ -91,10 +91,10 @@ add_executable(cartographer_node
   src/occupancy_grid.h
   src/ros_log_sink.cc
   src/ros_log_sink.h
+  src/sensor_bridge.cc
+  src/sensor_bridge.h
   src/sensor_data.cc
   src/sensor_data.h
-  src/sensor_data_producer.cc
-  src/sensor_data_producer.h
   src/time_conversion.cc
   src/time_conversion.h
 )

cartographer_ros/src/cartographer_node_main.cc

@@ -67,8 +67,8 @@
 #include "node_options.h"
 #include "occupancy_grid.h"
 #include "ros_log_sink.h"
+#include "sensor_bridge.h"
 #include "sensor_data.h"
-#include "sensor_data_producer.h"
 #include "time_conversion.h"
 
 DEFINE_string(configuration_directory, "",
@@ -156,7 +156,7 @@ class Node {
   carto::mapping::MapBuilder map_builder_ GUARDED_BY(mutex_);
   carto::mapping::SensorCollator<SensorData> sensor_collator_
       GUARDED_BY(mutex_);
-  SensorDataProducer sensor_data_producer_ GUARDED_BY(mutex_);
+  SensorBridge sensor_bridge_ GUARDED_BY(mutex_);
 
   ::ros::NodeHandle node_handle_;
   ::ros::Subscriber imu_subscriber_;
@@ -190,7 +190,7 @@ class Node {
 Node::Node(const NodeOptions& options)
     : options_(options),
       map_builder_(options.map_builder_options, &constant_data_),
-      sensor_data_producer_(kTrajectoryBuilderId, &sensor_collator_),
+      sensor_bridge_(kTrajectoryBuilderId, &sensor_collator_),
       tf_buffer_(::ros::Duration(1000)),
       tf_(tf_buffer_) {}
 
@@ -318,7 +318,7 @@ void Node::Initialize() {
         kLaserScanTopic, kInfiniteSubscriberQueueSize,
         boost::function<void(const sensor_msgs::LaserScan::ConstPtr&)>(
             [this](const sensor_msgs::LaserScan::ConstPtr& msg) {
-              sensor_data_producer_.AddLaserScanMessage(kLaserScanTopic, msg);
+              sensor_bridge_.AddLaserScanMessage(kLaserScanTopic, msg);
             }));
     expected_sensor_identifiers.insert(kLaserScanTopic);
   }
@@ -327,7 +327,7 @@ void Node::Initialize() {
         kMultiEchoLaserScanTopic, kInfiniteSubscriberQueueSize,
         boost::function<void(const sensor_msgs::MultiEchoLaserScan::ConstPtr&)>(
             [this](const sensor_msgs::MultiEchoLaserScan::ConstPtr& msg) {
-              sensor_data_producer_.AddMultiEchoLaserScanMessage(
+              sensor_bridge_.AddMultiEchoLaserScanMessage(
                   kMultiEchoLaserScanTopic, msg);
             }));
     expected_sensor_identifiers.insert(kMultiEchoLaserScanTopic);
@@ -344,7 +344,7 @@ void Node::Initialize() {
           topic, kInfiniteSubscriberQueueSize,
           boost::function<void(const sensor_msgs::PointCloud2::ConstPtr&)>(
               [this, topic](const sensor_msgs::PointCloud2::ConstPtr& msg) {
-                sensor_data_producer_.AddPointCloud2Message(topic, msg);
+                sensor_bridge_.AddPointCloud2Message(topic, msg);
               })));
       expected_sensor_identifiers.insert(topic);
     }
@@ -360,7 +360,7 @@ void Node::Initialize() {
         kImuTopic, kInfiniteSubscriberQueueSize,
         boost::function<void(const sensor_msgs::Imu::ConstPtr& msg)>(
             [this](const sensor_msgs::Imu::ConstPtr& msg) {
-              sensor_data_producer_.AddImuMessage(kImuTopic, msg);
+              sensor_bridge_.AddImuMessage(kImuTopic, msg);
             }));
     expected_sensor_identifiers.insert(kImuTopic);
   }
@@ -370,7 +370,7 @@ void Node::Initialize() {
         kOdometryTopic, kInfiniteSubscriberQueueSize,
         boost::function<void(const nav_msgs::Odometry::ConstPtr&)>(
             [this](const nav_msgs::Odometry::ConstPtr& msg) {
-              sensor_data_producer_.AddOdometryMessage(kOdometryTopic, msg);
+              sensor_bridge_.AddOdometryMessage(kOdometryTopic, msg);
             }));
     expected_sensor_identifiers.insert(kOdometryTopic);
   }

cartographer_ros/src/sensor_bridge.cc

@@ -14,20 +14,20 @@
  * limitations under the License.
  */
 
-#include "sensor_data_producer.h"
+#include "sensor_bridge.h"
 
 #include "msg_conversion.h"
 #include "time_conversion.h"
 
 namespace cartographer_ros {
 
-SensorDataProducer::SensorDataProducer(
+SensorBridge::SensorBridge(
     const int trajectory_id,
     ::cartographer::mapping::SensorCollator<SensorData>* sensor_collator)
     : trajectory_id_(trajectory_id), sensor_collator_(sensor_collator) {}
 
-void SensorDataProducer::AddOdometryMessage(
+void SensorBridge::AddOdometryMessage(const string& topic,
-    const string& topic, const nav_msgs::Odometry::ConstPtr& msg) {
+                                      const nav_msgs::Odometry::ConstPtr& msg) {
   auto sensor_data = ::cartographer::common::make_unique<SensorData>(
       msg->child_frame_id,
       SensorData::Odometry{ToRigid3d(msg->pose.pose),
@@ -38,7 +38,7 @@ void SensorDataProducer::AddOdometryMessage(
       std::move(sensor_data));
 }
 
-void SensorDataProducer::AddImuMessage(const string& topic,
+void SensorBridge::AddImuMessage(const string& topic,
                                  const sensor_msgs::Imu::ConstPtr& msg) {
   auto sensor_data = ::cartographer::common::make_unique<SensorData>(
       msg->header.frame_id, ToCartographer(*msg));
@@ -48,7 +48,7 @@ void SensorDataProducer::AddImuMessage(const string& topic,
       std::move(sensor_data));
 }
 
-void SensorDataProducer::AddLaserScanMessage(
+void SensorBridge::AddLaserScanMessage(
     const string& topic, const sensor_msgs::LaserScan::ConstPtr& msg) {
   auto sensor_data = ::cartographer::common::make_unique<SensorData>(
       msg->header.frame_id, ToCartographer(*msg));
@@ -58,7 +58,7 @@ void SensorDataProducer::AddLaserScanMessage(
       std::move(sensor_data));
 }
 
-void SensorDataProducer::AddMultiEchoLaserScanMessage(
+void SensorBridge::AddMultiEchoLaserScanMessage(
     const string& topic, const sensor_msgs::MultiEchoLaserScan::ConstPtr& msg) {
   auto sensor_data = ::cartographer::common::make_unique<SensorData>(
       msg->header.frame_id, ToCartographer(*msg));
@@ -68,7 +68,7 @@ void SensorDataProducer::AddMultiEchoLaserScanMessage(
       std::move(sensor_data));
 }
 
-void SensorDataProducer::AddPointCloud2Message(
+void SensorBridge::AddPointCloud2Message(
     const string& topic, const sensor_msgs::PointCloud2::ConstPtr& msg) {
   pcl::PointCloud<pcl::PointXYZ> pcl_points;
   pcl::fromROSMsg(*msg, pcl_points);

cartographer_ros/src/sensor_bridge.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_ROS_SENSOR_DATA_PRODUCER_H_
+#ifndef CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_
-#define CARTOGRAPHER_ROS_SENSOR_DATA_PRODUCER_H_
+#define CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_
 
 #include "cartographer/mapping/sensor_collator.h"
 #include "geometry_msgs/Transform.h"
@@ -32,14 +32,14 @@ namespace cartographer_ros {
 
 // A wrapper around SensorCollator that converts ROS messages into our internal
 // representation and passes them on to the 'sensor_collator'.
-class SensorDataProducer {
+class SensorBridge {
  public:
-  explicit SensorDataProducer(
+  explicit SensorBridge(
       int trajectory_id,
       ::cartographer::mapping::SensorCollator<SensorData>* sensor_collator);
 
-  SensorDataProducer(const SensorDataProducer&) = delete;
+  SensorBridge(const SensorBridge&) = delete;
-  SensorDataProducer& operator=(const SensorDataProducer&) = delete;
+  SensorBridge& operator=(const SensorBridge&) = delete;
 
   void AddOdometryMessage(const string& topic,
                           const nav_msgs::Odometry::ConstPtr& msg);
@@ -60,4 +60,4 @@ class SensorDataProducer {
 
 }  // namespace cartographer_ros
 
-#endif  // CARTOGRAPHER_ROS_SENSOR_DATA_PRODUCER_H_
+#endif  // CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_