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Improve publishing of poses. (#149) 

When a new scan matched point cloud is published, its timestamp is used for
publishing corresponding transforms. Further transforms are stamped with
::ros::Time::now().

If configured to publish odom, the two published transforms are combined into
one tf message.
master
Wolfgang Hess 2016-10-26 13:31:51 +02:00 committed by GitHub
parent ec2d54ef84
commit f100950244
1 changed files with 32 additions and 24 deletions
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56
cartographer_ros/cartographer_ros/node_main.cc
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@ -402,30 +402,7 @@ void Node::PublishPoseAndScanMatchedPointCloud(
const Rigid3d tracking_to_map = local_to_map * tracking_to_local;
geometry_msgs::TransformStamped stamped_transform;
stamped_transform.header.stamp = ros::Time::now();
const auto published_to_tracking = tf_bridge_.LookupToTracking(
last_pose_estimate.time, options_.published_frame);
if (published_to_tracking != nullptr) {
if (options_.provide_odom_frame) {
stamped_transform.header.frame_id = options_.map_frame;
stamped_transform.child_frame_id = options_.odom_frame;
stamped_transform.transform = ToGeometryMsgTransform(local_to_map);
tf_broadcaster_.sendTransform(stamped_transform);
stamped_transform.header.frame_id = options_.odom_frame;
stamped_transform.child_frame_id = options_.published_frame;
stamped_transform.transform =
ToGeometryMsgTransform(tracking_to_local * (*published_to_tracking));
tf_broadcaster_.sendTransform(stamped_transform);
} else {
stamped_transform.header.frame_id = options_.map_frame;
stamped_transform.child_frame_id = options_.published_frame;
stamped_transform.transform =
ToGeometryMsgTransform(tracking_to_map * (*published_to_tracking));
tf_broadcaster_.sendTransform(stamped_transform);
}
}
stamped_transform.header.stamp = ToRos(last_pose_estimate.time);
// We only publish a point cloud if it has changed. It is not needed at high
// frequency, and republishing it would be computationally wasteful.
@ -437,6 +414,37 @@ void Node::PublishPoseAndScanMatchedPointCloud(
last_pose_estimate.point_cloud,
tracking_to_local.inverse().cast<float>())));
last_scan_matched_point_cloud_time_ = last_pose_estimate.time;
} else {
// If we do not publish a new point cloud, we still allow time of the
// published poses to advance.
stamped_transform.header.stamp = ros::Time::now();
}
const auto published_to_tracking = tf_bridge_.LookupToTracking(
last_pose_estimate.time, options_.published_frame);
if (published_to_tracking != nullptr) {
if (options_.provide_odom_frame) {
std::vector<geometry_msgs::TransformStamped> stamped_transforms;
stamped_transform.header.frame_id = options_.map_frame;
stamped_transform.child_frame_id = options_.odom_frame;
stamped_transform.transform = ToGeometryMsgTransform(local_to_map);
stamped_transforms.push_back(stamped_transform);
stamped_transform.header.frame_id = options_.odom_frame;
stamped_transform.child_frame_id = options_.published_frame;
stamped_transform.transform =
ToGeometryMsgTransform(tracking_to_local * (*published_to_tracking));
stamped_transforms.push_back(stamped_transform);
tf_broadcaster_.sendTransform(stamped_transforms);
} else {
stamped_transform.header.frame_id = options_.map_frame;
stamped_transform.child_frame_id = options_.published_frame;
stamped_transform.transform =
ToGeometryMsgTransform(tracking_to_map * (*published_to_tracking));
tf_broadcaster_.sendTransform(stamped_transform);
}
}
}