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Commit 5c9bab0c authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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Unify filenames

parent 937de1aa
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2 merge requests!4new release,!3New release
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CMakeLists.txt
+ 5
− 4
View file @ 5c9bab0c
......@@ -137,8 +137,8 @@ include_directories(
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/wolf_ros.cpp
# )
add_library(wolf_subscriber_laser2D src/wolf_ros_subscriber_laser2D.cpp)
add_library(wolf_ros_scan_visualizer src/wolf_ros_scan_visualizer.cpp)
add_library(wolf_subscriber_laser2D src/wolf_subscriber_laser2D.cpp)
add_library(wolf_scan_visualizer src/wolf_scan_visualizer.cpp)
add_library(wolf_pointcloud_publisher src/wolf_pointcloud_publisher.cpp)
## Add cmake target dependencies of the library
......@@ -168,11 +168,12 @@ target_link_libraries(wolf_subscriber_laser2D
${wolflaser_LIBRARIES}
)
Message("wolfroslibraries: ${wolf_ros_LIBRARIES}")
target_link_libraries(wolf_ros_scan_visualizer
target_link_libraries(wolf_scan_visualizer
${wolf_LIBRARIES}
${wolflaser_LIBRARIES}
${catkin_LIBRARIES}
/home/jvallve/code/iri_ws/devel/lib/libwolf_ros_visualizer.so
# /home/jvallve/code/iri_ws/devel/lib/libwolf_ros_visualizer.so
/home/jcasals/catkin_ws/devel/lib/libwolf_visualizer.so
)
target_link_libraries(wolf_pointcloud_publisher
${wolf_LIBRARIES}
......
include/wolf_pointcloud_publisher.h
+ 3
− 3
View file @ 5c9bab0c
......@@ -6,7 +6,7 @@
#include <core/common/wolf.h>
#include <core/problem/problem.h>
#include "wolf_ros_publisher.h"
#include "wolf_publisher.h"
#include "publisher_factory.h"
/**************************
......@@ -18,7 +18,7 @@
using namespace wolf;
class WolfPointcloudPublisher: public WolfRosPublisher
class WolfPointcloudPublisher: public WolfPublisher
{
int max_frames_;
public:
......@@ -29,6 +29,6 @@ public:
pcl::PointCloud<pcl::PointXYZRGB> buildPointCloudWithMeasurements(const ProblemPtr);
void publishPointCloud(const ProblemPtr);
void publish(const ProblemPtr problem) override;
static std::shared_ptr<WolfRosPublisher> create();
static std::shared_ptr<WolfPublisher> create();
};
#endif
include/wolf_ros_scan_visualizer.h → include/wolf_scan_visualizer.h
+ 7
− 7
View file @ 5c9bab0c
#ifndef WOLF_ROS_SCAN_VISUALIZER_H
#define WOLF_ROS_SCAN_VISUALIZER_H
#ifndef WOLF_SCAN_VISUALIZER_H
#define WOLF_SCAN_VISUALIZER_H
/**************************
* ROS includes *
**************************/
......@@ -11,7 +11,7 @@
#include <core/common/wolf.h>
#include <core/problem/problem.h>
#include <wolf_ros_visualizer.h>
#include <wolf_visualizer.h>
#include <visualizer_factory.h>
/**************************
......@@ -23,17 +23,17 @@
using namespace wolf;
class WolfRosScanVisualizer: public WolfRosVisualizer
class WolfScanVisualizer: public WolfVisualizer
{
int max_frames_;
public:
WolfRosScanVisualizer();
virtual ~WolfRosScanVisualizer(){};
WolfScanVisualizer();
virtual ~WolfScanVisualizer(){};
void initialize(ros::NodeHandle &nh) override;
void visualize(const ProblemPtr problem) override;
virtual void fillFactorMarker(FactorBaseConstPtr fac,
visualization_msgs::Marker& fac_marker,
visualization_msgs::Marker& fac_text_marker) override;
static std::shared_ptr<WolfRosVisualizer> create();
static std::shared_ptr<WolfVisualizer> create();
};
#endif
include/wolf_ros_subscriber_laser2D.h → include/wolf_subscriber_laser2D.h
+ 6
− 6
View file @ 5c9bab0c
......@@ -32,26 +32,26 @@
#include <iomanip>
#include <queue>
#include "wolf_ros_subscriber.h"
#include "wolf_subscriber.h"
#include "subscriber_factory.h"
namespace wolf
{
class SubscriberWrapperLaser2D : public SubscriberWrapper
class SubscriberLaser2D : public WolfSubscriber
{
protected:
bool laser_intrinsics_set_;
public:
// Constructor
SubscriberWrapperLaser2D(const SensorBasePtr& sensor_ptr);
SubscriberLaser2D(const SensorBasePtr& sensor_ptr);
virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
void callback(const sensor_msgs::LaserScan::ConstPtr& msg);
static std::shared_ptr<SubscriberWrapper> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
};
WOLF_REGISTER_SUBSCRIBER(SubscriberWrapperLaser2D)
}
\ No newline at end of file
WOLF_REGISTER_SUBSCRIBER(SubscriberLaser2D)
}
src/wolf_pointcloud_publisher.cpp
+ 2
− 2
View file @ 5c9bab0c
......@@ -26,7 +26,7 @@
#include <laser_geometry/laser_geometry.h>
WolfPointcloudPublisher::WolfPointcloudPublisher() :
WolfRosPublisher()
WolfPublisher()
{
}
void WolfPointcloudPublisher::initialize(ros::NodeHandle& nh, const std::string& topic)
......@@ -165,7 +165,7 @@ void WolfPointcloudPublisher::publishPointCloud(const ProblemPtr problem)
this->publisher_.publish(msg);
}
std::shared_ptr<WolfRosPublisher> WolfPointcloudPublisher::create()
std::shared_ptr<WolfPublisher> WolfPointcloudPublisher::create()
{
return std::make_shared<WolfPointcloudPublisher>();
}
......
src/wolf_ros_scan_visualizer.cpp → src/wolf_scan_visualizer.cpp
+ 11
− 11
View file @ 5c9bab0c
#include "wolf_ros_scan_visualizer.h"
#include "wolf_scan_visualizer.h"
#include "Eigen/src/Geometry/AngleAxis.h"
#include "Eigen/src/Geometry/Transform.h"
#include "core/common/wolf.h"
......@@ -25,24 +25,24 @@
**************************/
#include <laser_geometry/laser_geometry.h>
WolfRosScanVisualizer::WolfRosScanVisualizer() : WolfRosVisualizer()
WolfScanVisualizer::WolfScanVisualizer() : WolfVisualizer()
{
}
void WolfRosScanVisualizer::initialize(ros::NodeHandle& nh)
void WolfScanVisualizer::initialize(ros::NodeHandle& nh)
{
WolfRosVisualizer::initialize(nh);
WolfVisualizer::initialize(nh);
nh.param<int>("num_frames_visualize", max_frames_, 2);
}
void WolfRosScanVisualizer::visualize(const ProblemPtr _problem)
void WolfScanVisualizer::visualize(const ProblemPtr _problem)
{
WolfRosVisualizer::visualize(_problem);
WolfVisualizer::visualize(_problem);
}
void WolfRosScanVisualizer::fillFactorMarker(FactorBaseConstPtr fac,
void WolfScanVisualizer::fillFactorMarker(FactorBaseConstPtr fac,
visualization_msgs::Marker& fac_marker,
visualization_msgs::Marker& fac_text_marker)
{
WolfRosVisualizer::fillFactorMarker(fac, fac_marker, fac_text_marker);
WolfVisualizer::fillFactorMarker(fac, fac_marker, fac_text_marker);
if (fac->getFeature()->getType() == "FeatureIcpAlign" and
(fac->getType() == "FactorOdom2D" or fac->getType() == "FactorOdom2DCloseloop"))
{
......@@ -86,8 +86,8 @@ void WolfRosScanVisualizer::fillFactorMarker(FactorBaseConstPtr fac,
fac_text_marker.pose.position.z = fac_text_marker.pose.position.z + 0.25;
}
}
std::shared_ptr<WolfRosVisualizer> WolfRosScanVisualizer::create()
std::shared_ptr<WolfVisualizer> WolfScanVisualizer::create()
{
return std::make_shared<WolfRosScanVisualizer>();
return std::make_shared<WolfScanVisualizer>();
}
WOLF_REGISTER_VISUALIZER(WolfRosScanVisualizer)
WOLF_REGISTER_VISUALIZER(WolfScanVisualizer)
src/wolf_ros_subscriber_laser2D.cpp → src/wolf_subscriber_laser2D.cpp
+ 7
− 7
View file @ 5c9bab0c
#include "wolf_ros_subscriber_laser2D.h"
#include "wolf_subscriber_laser2D.h"
#include <limits>
namespace wolf
{
// Constructor
SubscriberWrapperLaser2D::SubscriberWrapperLaser2D(const SensorBasePtr& sensor_ptr): SubscriberWrapper(sensor_ptr)
SubscriberLaser2D::SubscriberLaser2D(const SensorBasePtr& sensor_ptr): WolfSubscriber(sensor_ptr)
{
laser_intrinsics_set_ = false;
}
void SubscriberWrapperLaser2D::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
void SubscriberLaser2D::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
{
sub_ = nh.subscribe(topic, 100, &SubscriberWrapperLaser2D::callback, this);
sub_ = nh.subscribe(topic, 100, &SubscriberLaser2D::callback, this);
}
void SubscriberWrapperLaser2D::callback(const sensor_msgs::LaserScan::ConstPtr& msg)
void SubscriberLaser2D::callback(const sensor_msgs::LaserScan::ConstPtr& msg)
{
CaptureLaser2DPtr new_capture = std::make_shared<CaptureLaser2D>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec), sensor_ptr_, msg->ranges);
......@@ -86,8 +86,8 @@ void SubscriberWrapperLaser2D::callback(const sensor_msgs::LaserScan::ConstPtr&
// }
}
std::shared_ptr<SubscriberWrapper> SubscriberWrapperLaser2D::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
std::shared_ptr<WolfSubscriber> SubscriberLaser2D::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
{
return std::make_shared<SubscriberWrapperLaser2D>(_sensor_ptr);
return std::make_shared<SubscriberLaser2D>(_sensor_ptr);
}
}
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