12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Injects tf buffer into Node. (#200)

master
Damon Kohler 2016-11-30 11:04:54 +01:00 committed by GitHub
parent 6260c53107
commit c57075f67d
3 changed files with 8 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
cartographer_ros/cartographer_ros/node.cc
View File

@ -46,7 +46,6 @@ namespace carto = ::cartographer;
using carto::transform::Rigid3d;
constexpr int kLatestOnlyPublisherQueueSize = 1;
constexpr double kTfBufferCacheTimeInSeconds = 1e6;
// Default topic names; expected to be remapped as needed.
constexpr char kOccupancyGridTopic[] = "map";
@ -54,11 +53,9 @@ constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
constexpr char kSubmapListTopic[] = "submap_list";
constexpr char kSubmapQueryServiceName[] = "submap_query";
Node::Node(const NodeOptions& options)
Node::Node(const NodeOptions& options, tf2_ros::Buffer* const tf_buffer)
: options_(options),
tf_buffer_(::ros::Duration(kTfBufferCacheTimeInSeconds)),
tf_(tf_buffer_),
map_builder_bridge_(options_, &tf_buffer_) {}
map_builder_bridge_(options_, tf_buffer) {}
Node::~Node() {
{

5
cartographer_ros/cartographer_ros/node.h
View File

@ -30,14 +30,13 @@
#include "cartographer_ros_msgs/TrajectorySubmapList.h"
#include "ros/ros.h"
#include "tf2_ros/transform_broadcaster.h"
#include "tf2_ros/transform_listener.h"
namespace cartographer_ros {
// Wires up ROS topics to SLAM.
class Node {
public:
Node(const NodeOptions& options);
Node(const NodeOptions& options, tf2_ros::Buffer* tf_buffer);
~Node();
Node(const Node&) = delete;
@ -60,8 +59,6 @@ class Node {
const NodeOptions options_;
tf2_ros::Buffer tf_buffer_;
tf2_ros::TransformListener tf_;
tf2_ros::TransformBroadcaster tf_broadcaster_;
cartographer::common::Mutex mutex_;

6
cartographer_ros/cartographer_ros/node_main.cc
View File

@ -23,6 +23,7 @@
#include "cartographer/common/port.h"
#include "cartographer_ros/node.h"
#include "cartographer_ros/ros_log_sink.h"
#include "tf2_ros/transform_listener.h"
DEFINE_string(configuration_directory, "",
"First directory in which configuration files are searched, "
@ -55,7 +56,10 @@ void Run() {
code, std::move(file_resolver));
const auto options = CreateNodeOptions(&lua_parameter_dictionary);
Node node(options);
constexpr double kTfBufferCacheTimeInSeconds = 1e6;
tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
tf2_ros::TransformListener tf(tf_buffer);
Node node(options, &tf_buffer);
int trajectory_id = -1;
std::unordered_set<string> expected_sensor_ids;