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Follow googlecartographer/cartographer#436. (#459)

master
Wolfgang Hess 2017-08-01 11:28:03 +02:00 committed by GitHub
parent 46b0cc6497
commit cbc26545ad
2 changed files with 25 additions and 13 deletions
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36
cartographer_ros/cartographer_ros/node.cc
View File

@ -106,16 +106,21 @@ void Node::PublishSubmapList(const ::ros::WallTimerEvent& unused_timer_event) {
submap_list_publisher_.publish(map_builder_bridge_.GetSubmapList());
}
::cartographer::mapping::PoseExtrapolator* Node::GetExtrapolator(
int trajectory_id) {
void Node::AddExtrapolator(const int trajectory_id,
const TrajectoryOptions& options) {
constexpr double kExtrapolationEstimationTimeSec = 0.001; // 1 ms
if (extrapolators_.count(trajectory_id) == 0) {
extrapolators_.emplace(
std::piecewise_construct, std::forward_as_tuple(trajectory_id),
std::forward_as_tuple(::cartographer::common::FromSeconds(
kExtrapolationEstimationTimeSec)));
}
return &extrapolators_.at(trajectory_id);
CHECK(extrapolators_.count(trajectory_id) == 0);
const double gravity_time_constant =
node_options_.map_builder_options.use_trajectory_builder_3d()
? options.trajectory_builder_options.trajectory_builder_3d_options()
.imu_gravity_time_constant()
: options.trajectory_builder_options.trajectory_builder_2d_options()
.imu_gravity_time_constant();
extrapolators_.emplace(
std::piecewise_construct, std::forward_as_tuple(trajectory_id),
std::forward_as_tuple(
::cartographer::common::FromSeconds(kExtrapolationEstimationTimeSec),
gravity_time_constant));
}
void Node::PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event) {
@ -123,7 +128,7 @@ void Node::PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event) {
for (const auto& entry : map_builder_bridge_.GetTrajectoryStates()) {
const auto& trajectory_state = entry.second;
auto& extrapolator = *GetExtrapolator(entry.first);
auto& extrapolator = extrapolators_.at(entry.first);
// We only publish a point cloud if it has changed. It is not needed at high
// frequency, and republishing it would be computationally wasteful.
if (trajectory_state.pose_estimate.time != extrapolator.GetLastPoseTime()) {
@ -236,6 +241,7 @@ int Node::AddTrajectory(const TrajectoryOptions& options,
ComputeExpectedTopics(options, topics);
const int trajectory_id =
map_builder_bridge_.AddTrajectory(expected_sensor_ids, options);
AddExtrapolator(trajectory_id, options);
LaunchSubscribers(options, topics, trajectory_id);
subscribed_topics_.insert(expected_sensor_ids.begin(),
expected_sensor_ids.end());
@ -253,6 +259,7 @@ void Node::LaunchSubscribers(const TrajectoryOptions& options,
boost::function<void(const sensor_msgs::LaserScan::ConstPtr&)>(
[this, trajectory_id,
topic](const sensor_msgs::LaserScan::ConstPtr& msg) {
carto::common::MutexLocker lock(&mutex_);
map_builder_bridge_.sensor_bridge(trajectory_id)
->HandleLaserScanMessage(topic, msg);
})));
@ -266,6 +273,7 @@ void Node::LaunchSubscribers(const TrajectoryOptions& options,
boost::function<void(const sensor_msgs::MultiEchoLaserScan::ConstPtr&)>(
[this, trajectory_id,
topic](const sensor_msgs::MultiEchoLaserScan::ConstPtr& msg) {
carto::common::MutexLocker lock(&mutex_);
map_builder_bridge_.sensor_bridge(trajectory_id)
->HandleMultiEchoLaserScanMessage(topic, msg);
})));
@ -277,6 +285,7 @@ void Node::LaunchSubscribers(const TrajectoryOptions& options,
boost::function<void(const sensor_msgs::PointCloud2::ConstPtr&)>(
[this, trajectory_id,
topic](const sensor_msgs::PointCloud2::ConstPtr& msg) {
carto::common::MutexLocker lock(&mutex_);
map_builder_bridge_.sensor_bridge(trajectory_id)
->HandlePointCloud2Message(topic, msg);
})));
@ -295,13 +304,14 @@ void Node::LaunchSubscribers(const TrajectoryOptions& options,
boost::function<void(const sensor_msgs::Imu::ConstPtr&)>(
[this, trajectory_id,
topic](const sensor_msgs::Imu::ConstPtr& msg) {
carto::common::MutexLocker lock(&mutex_);
auto sensor_bridge_ptr =
map_builder_bridge_.sensor_bridge(trajectory_id);
sensor_bridge_ptr->HandleImuMessage(topic, msg);
auto imu_data_ptr = sensor_bridge_ptr->ToImuData(msg);
if (imu_data_ptr != nullptr) {
GetExtrapolator(trajectory_id)->AddImuData(*imu_data_ptr);
extrapolators_.at(trajectory_id).AddImuData(*imu_data_ptr);
}
sensor_bridge_ptr->HandleImuMessage(topic, msg);
})));
}
@ -313,6 +323,7 @@ void Node::LaunchSubscribers(const TrajectoryOptions& options,
boost::function<void(const nav_msgs::Odometry::ConstPtr&)>(
[this, trajectory_id,
topic](const nav_msgs::Odometry::ConstPtr& msg) {
carto::common::MutexLocker lock(&mutex_);
map_builder_bridge_.sensor_bridge(trajectory_id)
->HandleOdometryMessage(topic, msg);
})));
@ -431,6 +442,7 @@ void Node::FinishAllTrajectories() {
}
void Node::LoadMap(const std::string& map_filename) {
carto::common::MutexLocker lock(&mutex_);
map_builder_bridge_.LoadMap(map_filename);
}

2
cartographer_ros/cartographer_ros/node.h
View File

@ -85,7 +85,7 @@ class Node {
const cartographer_ros_msgs::SensorTopics& topics,
int trajectory_id);
void PublishSubmapList(const ::ros::WallTimerEvent& timer_event);
::cartographer::mapping::PoseExtrapolator* GetExtrapolator(int trajectory_id);
void AddExtrapolator(int trajectory_id, const TrajectoryOptions& options);
void PublishTrajectoryStates(const ::ros::WallTimerEvent& timer_event);
void PublishTrajectoryNodeList(const ::ros::WallTimerEvent& timer_event);
void PublishConstraintList(const ::ros::WallTimerEvent& timer_event);