bool
SlamKarto::updateMap()
{
boost::mutex::scoped_lock(map_mutex_);
karto::OccupancyGrid* occ_grid =
karto::OccupancyGrid::CreateFromScans(mapper_->GetAllProcessedScans(), resolution_);
if(!occ_grid)
return false;
if(!got_map_) {
map_.map.info.resolution = resolution_;
map_.map.info.origin.position.x = 0.0;
map_.map.info.origin.position.y = 0.0;
map_.map.info.origin.position.z = 0.0;
map_.map.info.origin.orientation.x = 0.0;
map_.map.info.origin.orientation.y = 0.0;
map_.map.info.origin.orientation.z = 0.0;
map_.map.info.origin.orientation.w = 1.0;
}
// Translate to ROS format
kt_int32s width = occ_grid->GetWidth();
kt_int32s height = occ_grid->GetHeight();
karto::Vector2<kt_double> offset = occ_grid->GetCoordinateConverter()->GetOffset();
if(map_.map.info.width != (unsigned int) width ||
map_.map.info.height != (unsigned int) height ||
map_.map.info.origin.position.x != offset.GetX() ||
map_.map.info.origin.position.y != offset.GetY())
{
map_.map.info.origin.position.x = offset.GetX();
map_.map.info.origin.position.y = offset.GetY();
map_.map.info.width = width;
map_.map.info.height = height;
map_.map.data.resize(map_.map.info.width * map_.map.info.height);
}
for (kt_int32s y=0; y<height; y++)
{
for (kt_int32s x=0; x<width; x++)
{
// Getting the value at position x,y
kt_int8u value = occ_grid->GetValue(karto::Vector2<kt_int32s>(x, y));
switch (value)
{
case karto::GridStates_Unknown:
map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = -1;
break;
case karto::GridStates_Occupied:
map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = 100;
break;
case karto::GridStates_Free:
map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = 0;
break;
default:
ROS_WARN("Encountered unknown cell value at %d, %d", x, y);
break;
}
}
}
// Set the header information on the map
map_.map.header.stamp = ros::Time::now();
map_.map.header.frame_id = map_frame_;
sst_.publish(map_.map);
sstm_.publish(map_.map.info);
delete occ_grid;
return true;
}
bool
SlamKarto::addScan(karto::LaserRangeFinder* laser,
const sensor_msgs::LaserScan::ConstPtr& scan,
karto::Pose2& karto_pose)
{
if(!getOdomPose(karto_pose, scan->header.stamp))
return false;
// Create a vector of doubles for karto
std::vector<kt_double> readings;
if (lasers_inverted_[scan->header.frame_id]) {
for(std::vector<float>::const_reverse_iterator it = scan->ranges.rbegin();
it != scan->ranges.rend();
++it)
{
readings.push_back(*it);
}
} else {
for(std::vector<float>::const_iterator it = scan->ranges.begin();
it != scan->ranges.end();
++it)
{
readings.push_back(*it);
}
}
// create localized range scan
karto::LocalizedRangeScan* range_scan =
new karto::LocalizedRangeScan(laser->GetName(), readings);
range_scan->SetOdometricPose(karto_pose);
range_scan->SetCorrectedPose(karto_pose);
// Add the localized range scan to the mapper
bool processed;
if((processed = mapper_->Process(range_scan)))
{
//std::cout << "Pose: " << range_scan->GetOdometricPose() << " Corrected Pose: " << range_scan->GetCorrectedPose() << std::endl;
karto::Pose2 corrected_pose = range_scan->GetCorrectedPose();
// Compute the map->odom transform
tf::Stamped<tf::Pose> odom_to_map;
try
{
tf_.transformPose(odom_frame_,tf::Stamped<tf::Pose> (tf::Transform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
tf::Vector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
scan->header.stamp, base_frame_),odom_to_map);
}
catch(tf::TransformException e)
{
ROS_ERROR("Transform from base_link to odom failed\n");
odom_to_map.setIdentity();
}
map_to_odom_mutex_.lock();
map_to_odom_ = tf::Transform(tf::Quaternion( odom_to_map.getRotation() ),
tf::Point( odom_to_map.getOrigin() ) ).inverse();
map_to_odom_mutex_.unlock();
// Add the localized range scan to the dataset (for memory management)
dataset_->Add(range_scan);
}
else
delete range_scan;
return processed;
}
/**
* @brief SlamKarto::addScan
* @param laser LaserRangeFinder ref base
* @param scan 传感器数据 ref laser
* @param karto_pose odom_pose 回调
* @return
*/
bool
SlamKarto::addScan(karto::LaserRangeFinder* laser,
const sensor_msgs::LaserScan::ConstPtr& scan,
karto::Pose2& karto_pose)
{
if(!getOdomPose(karto_pose, scan->header.stamp)) // 将odom与base保持坐标系对齐． 返回 odom --> karto_pose
return false;
// Create a vector of doubles for karto
std::vector<kt_double> readings;
//readings 原始scan laser -> reading
if (lasers_inverted_[scan->header.frame_id])
{
for(std::vector<float>::const_reverse_iterator it = scan->ranges.rbegin();
it != scan->ranges.rend();
++it)
{
readings.push_back(*it); //laser range messages
}
}
else
{
for(std::vector<float>::const_iterator it = scan->ranges.begin();
it != scan->ranges.end();
++it)
{
readings.push_back(*it);
debugPrint_<<" "<< *it;
}
}
debugPrint_<<" " <<endl;
if(debug_flag_)
debugPrint_<<"reading.size() "<<readings.size()<<endl;
// create localized range scan 创建rangeScan
karto::LocalizedRangeScan* range_scan =
new karto::LocalizedRangeScan(laser->GetName(), readings);//
range_scan->SetOdometricPose(karto_pose);// Sets the odometric pose of this scan
range_scan->SetCorrectedPose(karto_pose);// Moves the scan by moving the robot pose to the given location.
if(debug_print_flag_)
debugPrint_<<"1.1 addScan-karto_pose-: "<<karto_pose.GetX()<<" "<<karto_pose.GetY()<<" "<< karto_pose.GetHeading() <<" "<<endl;
// Add the localized range scan to the mapper
bool processed; //range_scan contain reading and predict pose of robot
if((processed = mapper_->Process(range_scan))) // pose 为base相对odom的pose
{
//std::cout << "Pose: " << range_scan->GetOdometricPose() << " Corrected Pose: " << range_scan->GetCorrectedPose() << std::endl;
karto::Pose2 corrected_pose = range_scan->GetCorrectedPose();
if(debug_print_flag_)
debugPrint_<<"1.2 addScan-corrected_pose-: "<<corrected_pose.GetX()<<" "<<corrected_pose.GetY()<<" "<< corrected_pose.GetHeading() <<" "<<endl;
// Compute the map->odom transform
tf::Stamped<tf::Pose> odom_to_map;
try
{
tf_.transformPose(odom_frame_,tf::Stamped<tf::Pose> (tf::Transform( tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
tf::Vector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
scan->header.stamp, base_frame_),odom_to_map);
}
catch(tf::TransformException e)
{
ROS_ERROR("Transform from base_link to odom failed\n");
odom_to_map.setIdentity();
}
map_to_odom_mutex_.lock();
map_to_odom_ = tf::Transform(tf::Quaternion( odom_to_map.getRotation() ),
tf::Point( odom_to_map.getOrigin() ) ).inverse();
map_to_odom_mutex_.unlock();
//debugPrint_<< " x y z "<< odom_to_map.getOrigin().getX() <<" "<< odom_to_map.getOrigin().getY()<<" "<<odom_to_map.getOrigin().getZ()<<endl;
if(debug_print_flag_)
debugPrint_<<"1.3 addScan-odom_to_map: "<<odom_to_map.getOrigin().getX() <<" "<< odom_to_map.getOrigin().getY()<<" "<<endl;
// Add the localized range scan to the dataset (for memory management)
dataset_->Add(range_scan);
}
else
delete range_scan;
return processed;
}