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

5
cartographer_ros/cartographer_ros/node.h
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@ -30,14 +30,13 @@
#include "cartographer_ros_msgs/TrajectorySubmapList.h" #include "cartographer_ros_msgs/TrajectorySubmapList.h"
#include "ros/ros.h" #include "ros/ros.h"
#include "tf2_ros/transform_broadcaster.h" #include "tf2_ros/transform_broadcaster.h"
#include "tf2_ros/transform_listener.h"
namespace cartographer_ros { namespace cartographer_ros {
// Wires up ROS topics to SLAM. // Wires up ROS topics to SLAM.
class Node { class Node {
public: public:
Node(const NodeOptions& options); Node(const NodeOptions& options, tf2_ros::Buffer* tf_buffer);
~Node(); ~Node();
Node(const Node&) = delete; Node(const Node&) = delete;
@ -60,8 +59,6 @@ class Node {
const NodeOptions options_; const NodeOptions options_;
tf2_ros::Buffer tf_buffer_;
tf2_ros::TransformListener tf_;
tf2_ros::TransformBroadcaster tf_broadcaster_; tf2_ros::TransformBroadcaster tf_broadcaster_;
cartographer::common::Mutex mutex_; cartographer::common::Mutex mutex_;

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