bool
SlamGMapping::initMapper(const sensor_msgs::LaserScan& scan)
{
// Get the laser's pose, relative to base.
tf::Stamped<tf::Pose> ident;
tf::Stamped<tf::Transform> laser_pose;
ident.setIdentity();
ident.frame_id_ = scan.header.frame_id;
ident.stamp_ = scan.header.stamp;
try
{
tf_.transformPose(base_frame_, ident, laser_pose);
#ifdef LOGTOFILE
writeLaserPoseStamped(laser_pose);
#endif
}
catch(tf::TransformException e)
{
ROS_WARN("Failed to compute laser pose, aborting initialization (%s)",
e.what());
return false;
}
double yaw = tf::getYaw(laser_pose.getRotation());
GMapping::OrientedPoint gmap_pose(laser_pose.getOrigin().x(),
laser_pose.getOrigin().y(),
yaw);
ROS_DEBUG("laser's pose wrt base: %.3f %.3f %.3f",
laser_pose.getOrigin().x(),
laser_pose.getOrigin().y(),
yaw);
// To account for lasers that are mounted upside-down, we determine the
// min, max, and increment angles of the laser in the base frame.
tf::Quaternion q;
q.setRPY(0.0, 0.0, scan.angle_min);
tf::Stamped<tf::Quaternion> min_q(q, scan.header.stamp,
scan.header.frame_id);
q.setRPY(0.0, 0.0, scan.angle_max);
tf::Stamped<tf::Quaternion> max_q(q, scan.header.stamp,
scan.header.frame_id);
try
{
tf_.transformQuaternion(base_frame_, min_q, min_q);
tf_.transformQuaternion(base_frame_, max_q, max_q);
}
catch(tf::TransformException& e)
{
ROS_WARN("Unable to transform min/max laser angles into base frame: %s",
e.what());
return false;
}
#ifdef LOGTOFILE
writeMinMax(min_q);
writeMinMax(max_q);
#endif
gsp_laser_beam_count_ = scan.ranges.size();
double angle_min = tf::getYaw(min_q);
double angle_max = tf::getYaw(max_q);
gsp_laser_angle_increment_ = scan.angle_increment;
ROS_DEBUG("Laser angles in base frame: min: %.3f max: %.3f inc: %.3f", angle_min, angle_max, gsp_laser_angle_increment_);
// setting maxRange and maxUrange here so we can set a reasonable default
ros::NodeHandle private_nh_("~");
if(!private_nh_.getParam("maxRange", maxRange_))
maxRange_ = scan.range_max - 0.01;
if(!private_nh_.getParam("maxUrange", maxUrange_))
maxUrange_ = maxRange_;
// The laser must be called "FLASER".
// We pass in the absolute value of the computed angle increment, on the
// assumption that GMapping requires a positive angle increment. If the
// actual increment is negative, we'll swap the order of ranges before
// feeding each scan to GMapping.
gsp_laser_ = new GMapping::RangeSensor("FLASER",
gsp_laser_beam_count_,
fabs(gsp_laser_angle_increment_),
gmap_pose,
0.0,
maxRange_);
ROS_ASSERT(gsp_laser_);
GMapping::SensorMap smap;
smap.insert(make_pair(gsp_laser_->getName(), gsp_laser_));
gsp_->setSensorMap(smap);
gsp_odom_ = new GMapping::OdometrySensor(odom_frame_);
ROS_ASSERT(gsp_odom_);
/// @todo Expose setting an initial pose
GMapping::OrientedPoint initialPose;
if(!getOdomPose(initialPose, scan.header.stamp))
initialPose = GMapping::OrientedPoint(0.0, 0.0, 0.0);
gsp_->setMatchingParameters(maxUrange_, maxRange_, sigma_,
kernelSize_, lstep_, astep_, iterations_,
lsigma_, ogain_, lskip_);
gsp_->setMotionModelParameters(srr_, srt_, str_, stt_);
gsp_->setUpdateDistances(linearUpdate_, angularUpdate_, resampleThreshold_);
gsp_->setUpdatePeriod(temporalUpdate_);
gsp_->setgenerateMap(false);
gsp_->GridSlamProcessor::init(particles_, xmin_, ymin_, xmax_, ymax_,
delta_, initialPose);
gsp_->setllsamplerange(llsamplerange_);
gsp_->setllsamplestep(llsamplestep_);
/// @todo Check these calls; in the gmapping gui, they use
/// llsamplestep and llsamplerange intead of lasamplestep and
/// lasamplerange. It was probably a typo, but who knows.
gsp_->setlasamplerange(lasamplerange_);
gsp_->setlasamplestep(lasamplestep_);
// Call the sampling function once to set the seed.
GMapping::sampleGaussian(1,time(NULL));
ROS_INFO("Initialization complete");
return true;
}
karto::LaserRangeFinder*
SlamKarto::getLaser(const sensor_msgs::LaserScan::ConstPtr& scan)
{
// Check whether we know about this laser yet
if(lasers_.find(scan->header.frame_id) == lasers_.end())
{
// New laser; need to create a Karto device for it.
// Get the laser's pose, relative to base.
tf::Stamped<tf::Pose> ident;
tf::Stamped<tf::Transform> laser_pose;
ident.setIdentity();
ident.frame_id_ = scan->header.frame_id;
ident.stamp_ = scan->header.stamp;
try
{
tf_.transformPose(base_frame_, ident, laser_pose);
}
catch(tf::TransformException e)
{
ROS_WARN("Failed to compute laser pose, aborting initialization (%s)",
e.what());
return NULL;
}
double yaw = tf::getYaw(laser_pose.getRotation());
ROS_INFO("laser %s's pose wrt base: %.3f %.3f %.3f",
scan->header.frame_id.c_str(),
laser_pose.getOrigin().x(),
laser_pose.getOrigin().y(),
yaw);
// To account for lasers that are mounted upside-down, we determine the
// min, max, and increment angles of the laser in the base frame.
tf::Quaternion q;
q.setRPY(0.0, 0.0, scan->angle_min);
tf::Stamped<tf::Quaternion> min_q(q, scan->header.stamp,
scan->header.frame_id);
q.setRPY(0.0, 0.0, scan->angle_max);
tf::Stamped<tf::Quaternion> max_q(q, scan->header.stamp,
scan->header.frame_id);
try
{
tf_.transformQuaternion(base_frame_, min_q, min_q);
tf_.transformQuaternion(base_frame_, max_q, max_q);
}
catch(tf::TransformException& e)
{
ROS_WARN("Unable to transform min/max laser angles into base frame: %s",
e.what());
return false;
}
double angle_min = tf::getYaw(min_q);
double angle_max = tf::getYaw(max_q);
bool inverse = lasers_inverted_[scan->header.frame_id] = angle_max < angle_min;
if (inverse)
ROS_INFO("laser is mounted upside-down");
// Create a laser range finder device and copy in data from the first
// scan
std::string name = scan->header.frame_id;
karto::LaserRangeFinder* laser =
karto::LaserRangeFinder::CreateLaserRangeFinder(karto::LaserRangeFinder_Custom, karto::Name(name));
laser->SetOffsetPose(karto::Pose2(laser_pose.getOrigin().x(),
laser_pose.getOrigin().y(),
yaw));
laser->SetMinimumRange(scan->range_min);
laser->SetMaximumRange(scan->range_max);
laser->SetMinimumAngle(scan->angle_min);
laser->SetMaximumAngle(scan->angle_max);
laser->SetAngularResolution(scan->angle_increment);
// TODO: expose this, and many other parameters
//laser_->SetRangeThreshold(12.0);
// Store this laser device for later
lasers_[scan->header.frame_id] = laser;
// Add it to the dataset, which seems to be necessary
dataset_->Add(laser);
}
return lasers_[scan->header.frame_id];
}
