diff --git a/CMakeLists.txt b/CMakeLists.txt index 6debe122bdb4e0cd66b8234cb14098aed4a82c23..559f58c533f9c65a54694ca890b98deb5cb2eee8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -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} diff --git a/include/wolf_pointcloud_publisher.h b/include/wolf_pointcloud_publisher.h index ce95c7f5469d8805353c9118f39835948c81539b..84c45d1f315737d095a192b65fbbbd55bd127a22 100644 --- a/include/wolf_pointcloud_publisher.h +++ b/include/wolf_pointcloud_publisher.h @@ -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 diff --git a/include/wolf_ros_scan_visualizer.h b/include/wolf_scan_visualizer.h similarity index 76% rename from include/wolf_ros_scan_visualizer.h rename to include/wolf_scan_visualizer.h index 4476c84f9a98e3d5bea37326121b6d649519ea0a..33e0c936e4c20cef476599814683e9003a84d9cc 100644 --- a/include/wolf_ros_scan_visualizer.h +++ b/include/wolf_scan_visualizer.h @@ -1,5 +1,5 @@ -#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 diff --git a/include/wolf_ros_subscriber_laser2D.h b/include/wolf_subscriber_laser2D.h similarity index 77% rename from include/wolf_ros_subscriber_laser2D.h rename to include/wolf_subscriber_laser2D.h index e4272027406318cd9dc3599ea642cb73c8b02e7b..10fec1b79634d1471aaaaa8717000eeb1bc2a0db 100644 --- a/include/wolf_ros_subscriber_laser2D.h +++ b/include/wolf_subscriber_laser2D.h @@ -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) +} diff --git a/src/wolf_pointcloud_publisher.cpp b/src/wolf_pointcloud_publisher.cpp index 66879a6f326790f6c6cf84d7d22db01afdb8cf02..bbe76a77380d5fccd2dd0bea2b99a0ac10dd4869 100644 --- a/src/wolf_pointcloud_publisher.cpp +++ b/src/wolf_pointcloud_publisher.cpp @@ -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>(); } diff --git a/src/wolf_ros_scan_visualizer.cpp b/src/wolf_scan_visualizer.cpp similarity index 82% rename from src/wolf_ros_scan_visualizer.cpp rename to src/wolf_scan_visualizer.cpp index 1cafb8484ee99a4335535ec1b5f93937cd2c4e3e..0fe84da178b1189a5dec1ff5726a80a4415cc36f 100644 --- a/src/wolf_ros_scan_visualizer.cpp +++ b/src/wolf_scan_visualizer.cpp @@ -1,4 +1,4 @@ -#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) diff --git a/src/wolf_ros_subscriber_laser2D.cpp b/src/wolf_subscriber_laser2D.cpp similarity index 84% rename from src/wolf_ros_subscriber_laser2D.cpp rename to src/wolf_subscriber_laser2D.cpp index faa7432374325598cb4bf18463b19abad0db323e..c4958cc534051bcf13e7cf724c91f05be6f2063b 100644 --- a/src/wolf_ros_subscriber_laser2D.cpp +++ b/src/wolf_subscriber_laser2D.cpp @@ -1,21 +1,21 @@ -#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); } }