Use function to convert submap pose to ROS message. (#153)
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76212e1c79
commit
d0edcb5f95
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@ -26,18 +26,11 @@
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#include "cartographer/common/make_unique.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/common/mutex.h"
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#include "cartographer/common/mutex.h"
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#include "cartographer/common/port.h"
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#include "cartographer/common/port.h"
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#include "cartographer/common/thread_pool.h"
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#include "cartographer/common/time.h"
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#include "cartographer/common/time.h"
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#include "cartographer/kalman_filter/pose_tracker.h"
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#include "cartographer/mapping/map_builder.h"
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#include "cartographer/mapping/map_builder.h"
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#include "cartographer/mapping/proto/submap_visualization.pb.h"
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#include "cartographer/mapping/proto/submap_visualization.pb.h"
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#include "cartographer/mapping_2d/sparse_pose_graph.h"
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#include "cartographer/mapping/sparse_pose_graph.h"
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#include "cartographer/mapping_3d/local_trajectory_builder_options.h"
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#include "cartographer/mapping_3d/sparse_pose_graph.h"
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#include "cartographer/sensor/data.h"
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#include "cartographer/sensor/laser.h"
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#include "cartographer/sensor/point_cloud.h"
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#include "cartographer/sensor/point_cloud.h"
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#include "cartographer/sensor/proto/sensor.pb.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/transform.h"
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#include "cartographer/transform/transform.h"
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#include "cartographer_ros/assets_writer.h"
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#include "cartographer_ros/assets_writer.h"
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@ -76,7 +69,6 @@ namespace cartographer_ros {
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namespace {
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namespace {
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namespace carto = ::cartographer;
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namespace carto = ::cartographer;
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namespace proto = carto::sensor::proto;
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using carto::transform::Rigid3d;
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using carto::transform::Rigid3d;
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using carto::kalman_filter::PoseCovariance;
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using carto::kalman_filter::PoseCovariance;
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@ -299,21 +291,8 @@ bool Node::HandleSubmapQuery(
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response.width = response_proto.width();
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response.width = response_proto.width();
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response.height = response_proto.height();
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response.height = response_proto.height();
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response.resolution = response_proto.resolution();
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response.resolution = response_proto.resolution();
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response.slice_pose = ToGeometryMsgPose(
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response.slice_pose.position.x =
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carto::transform::ToRigid3(response_proto.slice_pose()));
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response_proto.slice_pose().translation().x();
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response.slice_pose.position.y =
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response_proto.slice_pose().translation().y();
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response.slice_pose.position.z =
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response_proto.slice_pose().translation().z();
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response.slice_pose.orientation.x =
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response_proto.slice_pose().rotation().x();
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response.slice_pose.orientation.y =
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response_proto.slice_pose().rotation().y();
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response.slice_pose.orientation.z =
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response_proto.slice_pose().rotation().z();
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response.slice_pose.orientation.w =
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response_proto.slice_pose().rotation().w();
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return true;
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return true;
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}
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}
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