diff --git a/.gitignore b/.gitignore
index 41d9f7e8e7c70bf6960c9ef69d3a77b6f8c4ed22..79b8fcfdbb9fe6dbfa89f2133c10fc67b8e18f1e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
/.settings/
/.cproject
/.project
+/.clangd
\ No newline at end of file
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..5de63b84fec796fabf3b89f18569ec3c42792106
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,184 @@
+stages:
+ - license
+ - build_and_test
+ - deploy_packages
+
+############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
+ ## Install ssh-agent if not already installed, it is required by Docker.
+ ## (change apt-get to yum if you use an RPM-based image)
+ - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+ ## Run ssh-agent (inside the build environment)
+ - eval $(ssh-agent -s)
+
+ ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+ ## We're using tr to fix line endings which makes ed25519 keys work
+ ## without extra base64 encoding.
+ ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+ - mkdir -p ~/.ssh
+ - chmod 700 ~/.ssh
+ - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+ # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+ - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+ # update apt
+ - apt-get update
+
+ # create ci_deps folder (if not exists)
+ - mkdir -pv ci_deps
+
+ # manually source ros setup.bash
+ - source /root/catkin_ws/devel/setup.bash
+ - roscd # check that it works
+
+.license_header_template: &license_header_definition
+ - cd $CI_PROJECT_DIR
+
+ # configure git
+ - export CI_NEW_BRANCH=ci_processing$RANDOM
+ - echo creating new temporary branch... $CI_NEW_BRANCH
+ - git config --global user.email "${CI_EMAIL}"
+ - git config --global user.name "${CI_USERNAME}"
+ - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+ # license headers
+ - export CURRENT_YEAR=$( date +'%Y' )
+ - echo "current year:" ${CURRENT_YEAR}
+ - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+ # add license headers to new files
+ - echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+ - ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+ - else
+ # update license headers of all files
+ - export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+ - echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+ - git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+ - sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+ - ./ci_deps/wolf/wolf_scripts/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+ - fi
+
+ # push changes (if any)
+ - if git commit -a -m "[skip ci] license headers added or modified" ; then
+ - git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+ - git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+ - else
+ - echo "No changes, nothing to commit!"
+ - fi
+
+.install_wolf_template: &install_wolf_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d wolf ]; then
+ - echo "directory wolf exists"
+ - cd wolf
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_CORE_BRANCH
+ - git pull
+ - else
+ - git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+ - cd wolf
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+
+.build_and_test_template: &build_and_test_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+ - cd wolf_ros_node
+ - git checkout $CI_COMMIT_BRANCH
+ - cd ../..
+ - catkin_make
+
+############ LICENSE HEADERS ############
+license_headers:
+ stage: license
+ image: labrobotica/wolf_deps_ros:20.04
+ cache: []
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ script:
+ - *license_header_definition
+
+############ UBUNTU 18.04 TEST ############
+build_and_test:bionic:
+ stage: build_and_test
+ image: labrobotica/wolf_deps_ros:18.04
+ cache:
+ - key: wolf-bionic
+ paths:
+ - ci_deps/wolf/
+ - key: catkinws-src-bionic
+ paths:
+ - catkin_ws/src
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ script:
+ - *build_and_test_definition
+
+############ UBUNTU 20.04 TEST ############
+build_and_test:focal:
+ stage: build_and_test
+ image: labrobotica/wolf_deps_ros:20.04
+ cache:
+ - key: wolf-focal
+ paths:
+ - ci_deps/wolf/
+ - key: catkinws-src-focal
+ paths:
+ - catkin_ws/src
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ script:
+ - *build_and_test_definition
+
+############ DEPLOY ROS PACKAGES ############
+deploy_imu:
+ stage: deploy_packages
+ variables:
+ WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+ WOLF_IMU_BRANCH: $WOLF_IMU_BRANCH
+ WOLF_ROS_CORE_BRANCH: $CI_COMMIT_BRANCH
+ trigger:
+ project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_imu
+
+deploy_gnss:
+ stage: deploy_packages
+ variables:
+ WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+ WOLF_APRILTAG_BRANCH: $WOLF_GNSS_BRANCH
+ WOLF_ROS_CORE_BRANCH: $CI_COMMIT_BRANCH
+ trigger:
+ project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_gnss
+
+deploy_laser:
+ stage: deploy_packages
+ variables:
+ WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+ WOLF_LASER_BRANCH: $WOLF_LASER_BRANCH
+ WOLF_ROS_CORE_BRANCH: $CI_COMMIT_BRANCH
+ trigger:
+ project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_laser
+
+deploy_apriltag:
+ stage: deploy_packages
+ variables:
+ WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+ WOLF_VISION_BRANCH: $WOLF_VISION_BRANCH
+ WOLF_APRILTAG_BRANCH: $WOLF_APRILTAG_BRANCH
+ WOLF_ROS_CORE_BRANCH: $CI_COMMIT_BRANCH
+ trigger:
+ project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_apriltag
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d6f5fe055b5100d95b3cf71641aaa8484e9c5498..1851015a20181da59c2d94b5c351bcbe88888b42 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(wolf_ros_node)
## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)
# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
## Find catkin macros and libraries
@@ -13,15 +13,18 @@ find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
std_msgs
+ nav_msgs
tf
- dynamic_reconfigure
+ tf_conversions
+ tf2_ros
+# dynamic_reconfigure
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# find_package(Ceres REQUIRED)
# find_package(Eigen3 REQUIRED)
-find_package(wolf REQUIRED)
+find_package(wolfcore REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
@@ -94,9 +97,9 @@ find_package(wolf REQUIRED)
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
-generate_dynamic_reconfigure_options(
- cfg/WolfROS.cfg
-)
+##generate_dynamic_reconfigure_options(
+## cfg/WolfROS.cfg
+##)
###################################
## catkin specific configuration ##
@@ -120,11 +123,11 @@ INCLUDE_DIRS include
## Specify additional locations of header files
## Your package locations should be listed before other locations
-message("Wolf include path: ${wolf_INCLUDE_DIR}")
+message("Wolf include path: ${wolfcore_INCLUDE_DIRS}")
include_directories(
include
${EIGEN_INCLUDE_DIRS}
- ${wolf_INCLUDE_DIRS}
+ ${wolfcore_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
)
@@ -144,10 +147,17 @@ include_directories(
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME} src/wolf_ros_node.cpp)
-add_library(wolf_subscriber_odom2D src/wolf_ros_subscriber_odom2D.cpp)
-add_library(wolf_subscriber_other src/wolf_ros_subscriber_other.cpp)
-add_library(wolf_ros_visualizer src/wolf_ros_visualizer.cpp)
+add_executable(${PROJECT_NAME} src/node.cpp)
+
+add_library(subscriber_${PROJECT_NAME}
+ src/subscriber_diffdrive.cpp
+ src/subscriber_odom2d.cpp)
+add_library(publisher_${PROJECT_NAME}
+ src/publisher_graph.cpp
+ src/publisher_pose.cpp
+ src/publisher_trajectory.cpp
+ src/publisher_state_block.cpp
+ src/publisher_tf.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
@@ -157,17 +167,29 @@ add_library(wolf_ros_visualizer src/wolf_ros_visualizer.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
-add_dependencies(wolf_ros_visualizer ${PROJECT_NAME}_gencfg)
+## add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
## Specify libraries to link a library or executable target against
-target_link_libraries(wolf_ros_visualizer ${wolf_LIBRARIES})
+target_link_libraries(subscriber_${PROJECT_NAME}
+ ${catkin_LIBRARIES}
+ ${CERES_LIBRARIES}
+ ${wolfcore_LIBRARIES}
+ yaml-cpp
+ dl
+ )
+
+target_link_libraries(publisher_${PROJECT_NAME}
+ ${catkin_LIBRARIES}
+ ${CERES_LIBRARIES}
+ ${wolfcore_LIBRARIES}
+ yaml-cpp
+ dl
+ )
target_link_libraries(${PROJECT_NAME}
- wolf_ros_visualizer
${catkin_LIBRARIES}
${CERES_LIBRARIES}
- ${wolf_LIBRARIES}
+ ${wolfcore_LIBRARIES}
yaml-cpp
dl
)
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..281d399f13dfd23087acc56303dd38d68162587c
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,619 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received. You must make sure that they, too, receive
+or can get the source code. And you must show them these terms so they
+know their rights.
+
+ Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+ For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+ Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
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+stand ready to extend this provision to those domains in future versions
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+
+ Finally, every program is threatened constantly by software patents.
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+patents cannot be used to render the program non-free.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ TERMS AND CONDITIONS
+
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+
+ "This License" refers to version 3 of the GNU General Public License.
+
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+ 15. Disclaimer of Warranty.
+
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+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
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+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
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diff --git a/cfg/WolfROS.cfg b/cfg/WolfROS.cfg
deleted file mode 100755
index 6d0b29ba8c817e54eb6e99f19f5cfe762facd695..0000000000000000000000000000000000000000
--- a/cfg/WolfROS.cfg
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "wolf_demo"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-# gen.add("int_param", int_t, 0, "An Integer parameter", 50, 0, 100)
-# gen.add("double_param", double_t, 0, "A double parameter", .5, 0, 1)
-# gen.add("str_param", str_t, 0, "A string parameter", "Hello World")
-gen.add("publish_markers_", bool_t, 0, "Publish KeyFrame markers", True)
-
-# size_enum = gen.enum([ gen.const("Small", int_t, 0, "A small constant"),
-# gen.const("Medium", int_t, 1, "A medium constant"),
-# gen.const("Large", int_t, 2, "A large constant"),
-# gen.const("ExtraLarge", int_t, 3, "An extra large constant")],
-# "An enum to set size")
-
-# gen.add("size", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=size_enum)
-
-exit(gen.generate(PACKAGE, "wolf_demo", "wolf_demo"))
diff --git a/include/factory_publisher.h b/include/factory_publisher.h
new file mode 100644
index 0000000000000000000000000000000000000000..d70f70705f07a83998caac6ceb86060d7110b2dd
--- /dev/null
+++ b/include/factory_publisher.h
@@ -0,0 +1,198 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef FACTORY_PUBLISHER_H_
+#define FACTORY_PUBLISHER_H_
+
+// wolf
+#include <core/common/factory.h>
+#include <core/utils/params_server.h>
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+
+// #include "wolf_ros_subscriber.h"
+// std
+
+
+namespace wolf
+{
+/** \brief Processor factory class
+ *
+ * This factory can create objects of classes deriving from ProcessorBase.
+ *
+ * Specific object creation is invoked by create(TYPE, params), and the TYPE of processor is identified with a string.
+ * For example, the following processor types are implemented,
+ * - "ODOM 3d" for ProcessorOdom3d
+ * - "ODOM 2d" for ProcessorOdom2d
+ * - "GPS" for ProcessorGPS
+ *
+ * The rule to make new TYPE strings unique is that you skip the prefix 'Processor' from your class name,
+ * and you build a string in CAPITALS with space separators.
+ * - ProcessorImageFeature -> ````"IMAGE"````
+ * - ProcessorLaser2d -> ````"LASER 2d"````
+ * - etc.
+ *
+ * The methods to create specific processors are called __creators__.
+ * Creators must be registered to the factory before they can be invoked for processor creation.
+ *
+ * This documentation shows you how to:
+ * - Access the Factory
+ * - Register and unregister creators
+ * - Create processors
+ * - Write a processor creator for ProcessorOdom2d (example).
+ *
+ * #### Accessing the Factory
+ * The FactoryProcessor class is a singleton: it can only exist once in your application.
+ * To obtain an instance of it, use the static method get(),
+ *
+ * \code
+ * FactoryProcessor::get()
+ * \endcode
+ *
+ * You can then call the methods you like, e.g. to create a processor, you type:
+ *
+ * \code
+ * FactoryProcessor::create(...); // see below for creating processors ...
+ * \endcode
+ *
+ * #### Registering processor creators
+ * Prior to invoking the creation of a processor of a particular type,
+ * you must register the creator for this type into the factory.
+ *
+ * Registering processor creators into the factory is done through registerCreator().
+ * You provide a processor type string (above), and a pointer to a static method
+ * that knows how to create your specific processor, e.g.:
+ *
+ * \code
+ * FactoryProcessor::registerCreator("ODOM 2d", ProcessorOdom2d::create);
+ * \endcode
+ *
+ * The method ProcessorOdom2d::create() exists in the ProcessorOdom2d class as a static method.
+ * All these ProcessorXxx::create() methods need to have exactly the same API, regardless of the processor type.
+ * This API includes a processor name, and a pointer to a base struct of parameters, ParamsProcessorBasePtr,
+ * that can be derived for each derived processor.
+ *
+ * Here is an example of ProcessorOdom2d::create() extracted from processor_odom_2d.h:
+ *
+ * \code
+ * static ProcessorBasePtr create(const std::string& _name, ParamsProcessorBasePtr _params)
+ * {
+ * // cast _params to good type
+ * ParamsProcessorOdom2d* params = (ParamsProcessorOdom2d*)_params;
+ *
+ * ProcessorBasePtr prc = new ProcessorOdom2d(params);
+ * prc->setName(_name); // pass the name to the created ProcessorOdom2d.
+ * return prc;
+ * }
+ * \endcode
+ *
+ * #### Achieving automatic registration
+ * Currently, registering is performed in each specific ProcessorXxxx source file, processor_xxxx.cpp.
+ * For example, in processor_odom_2d.cpp we find the line:
+ *
+ * \code
+ * const bool registered_odom_2d = FactoryProcessor::registerCreator("ODOM 2d", ProcessorOdom2d::create);
+ * \endcode
+ *
+ * which is a static invocation (i.e., it is placed at global scope outside of the ProcessorOdom2d class).
+ * Therefore, at application level, all processors that have a .cpp file compiled are automatically registered.
+ *
+ * #### Unregister processor creators
+ * The method unregisterCreator() unregisters the ProcessorXxx::create() method.
+ * It only needs to be passed the string of the processor type.
+ *
+ * \code
+ * FactoryProcessor::unregisterCreator("ODOM 2d");
+ * \endcode
+ *
+ * #### Creating processors
+ * Prior to invoking the creation of a processor of a particular type,
+ * you must register the creator for this type into the factory.
+ *
+ * To create a ProcessorOdom2d, you type:
+ *
+ * \code
+ * FactoryProcessor::create("ODOM 2d", "main odometry", params_ptr);
+ * \endcode
+ *
+ * #### Example 1 : using the Factories alone
+ * We provide the necessary steps to create a processor of class ProcessorOdom2d in our application,
+ * and bind it to a SensorOdom2d:
+ *
+ * \code
+ * #include "sensor_odom_2d.h" // provides SensorOdom2d and FactorySensor
+ * #include "processor_odom_2d.h" // provides ProcessorOdom2d and FactoryProcessor
+ *
+ * // Note: SensorOdom2d::create() is already registered, automatically.
+ * // Note: ProcessorOdom2d::create() is already registered, automatically.
+ *
+ * // First create the sensor (See FactorySensor for details)
+ * SensorBasePtr sensor_ptr = FactorySensor::create ( "ODOM 2d" , "Main odometer" , extrinsics , &intrinsics );
+ *
+ * // To create a odometry integrator, provide a type="ODOM 2d", a name="main odometry", and a pointer to the parameters struct:
+ *
+ * ParamsProcessorOdom2d params({...}); // fill in the derived struct (note: ProcessorOdom2d actually has no input params)
+ *
+ * ProcessorBasePtr processor_ptr =
+ * FactoryProcessor::create ( "ODOM 2d" , "main odometry" , ¶ms );
+ *
+ * // Bind processor to sensor
+ * sensor_ptr->addProcessor(processor_ptr);
+ * \endcode
+ *
+ * #### Example 2: Using the helper API in class Problem
+ * The WOLF uppermost node, Problem, makes the creation of sensors and processors, and the binding between them, even simpler.
+ *
+ * The creation is basically replicating the factories' API. The binding is accomplished by passing the sensor name to the Processor installer.
+ *
+ * The example 1 above can be accomplished as follows (we obviated for simplicity all the parameter creation),
+ *
+ * \code
+ * #include "sensor_odom_2d.h"
+ * #include "processor_odom_2d.h"
+ * #include "problem.h"
+ *
+ * Problem problem(FRM_PO_2d);
+ * problem.installSensor ( "ODOM 2d" , "Main odometer" , extrinsics , &intrinsics );
+ * problem.installProcessor ( "ODOM 2d" , "Odometry" , "Main odometer" , ¶ms );
+ * \endcode
+ *
+ * You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````.
+ */
+class Publisher;
+typedef Factory<Publisher,
+ const std::string&,
+ const ParamsServer&,
+ const ProblemPtr,
+ ros::NodeHandle&> FactoryPublisher;
+
+template<>
+inline std::string FactoryPublisher::getClass() const
+{
+ return "FactoryPublisher";
+}
+
+#define WOLF_REGISTER_PUBLISHER(PublisherType) \
+ namespace{ const bool WOLF_UNUSED PublisherType##Registered = \
+ wolf::FactoryPublisher::registerCreator(#PublisherType, PublisherType::create); } \
+
+} /* namespace wolf */
+#endif /* FACTORY_PUBLISHER_H_ */
diff --git a/include/subscriber_factory.h b/include/factory_subscriber.h
similarity index 53%
rename from include/subscriber_factory.h
rename to include/factory_subscriber.h
index e88336002c54f36279971c6681d166737950245f..ec0f17f948f98cc5aea5916cf71d0f77489cd288 100644
--- a/include/subscriber_factory.h
+++ b/include/factory_subscriber.h
@@ -1,9 +1,30 @@
-#ifndef SUBSCRIBER_FACTORY_H_
-#define SUBSCRIBER_FACTORY_H_
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef FACTORY_SUBSCRIBER_H_
+#define FACTORY_SUBSCRIBER_H_
// wolf
#include <core/common/factory.h>
-#include <core/utils/params_server.hpp>
+#include <core/utils/params_server.h>
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
@@ -19,14 +40,14 @@ namespace wolf
*
* Specific object creation is invoked by create(TYPE, params), and the TYPE of processor is identified with a string.
* For example, the following processor types are implemented,
- * - "ODOM 3D" for ProcessorOdom3D
- * - "ODOM 2D" for ProcessorOdom2D
+ * - "ODOM 3d" for ProcessorOdom3d
+ * - "ODOM 2d" for ProcessorOdom2d
* - "GPS" for ProcessorGPS
*
* The rule to make new TYPE strings unique is that you skip the prefix 'Processor' from your class name,
* and you build a string in CAPITALS with space separators.
* - ProcessorImageFeature -> ````"IMAGE"````
- * - ProcessorLaser2D -> ````"LASER 2D"````
+ * - ProcessorLaser2d -> ````"LASER 2d"````
* - etc.
*
* The methods to create specific processors are called __creators__.
@@ -36,20 +57,20 @@ namespace wolf
* - Access the Factory
* - Register and unregister creators
* - Create processors
- * - Write a processor creator for ProcessorOdom2D (example).
+ * - Write a processor creator for ProcessorOdom2d (example).
*
* #### Accessing the Factory
- * The ProcessorFactory class is a singleton: it can only exist once in your application.
+ * The FactoryProcessor class is a singleton: it can only exist once in your application.
* To obtain an instance of it, use the static method get(),
*
* \code
- * ProcessorFactory::get()
+ * FactoryProcessor::get()
* \endcode
*
* You can then call the methods you like, e.g. to create a processor, you type:
*
* \code
- * ProcessorFactory::get().create(...); // see below for creating processors ...
+ * FactoryProcessor::create(...); // see below for creating processors ...
* \endcode
*
* #### Registering processor creators
@@ -61,37 +82,37 @@ namespace wolf
* that knows how to create your specific processor, e.g.:
*
* \code
- * ProcessorFactory::get().registerCreator("ODOM 2D", ProcessorOdom2D::create);
+ * FactoryProcessor::registerCreator("ODOM 2d", ProcessorOdom2d::create);
* \endcode
*
- * The method ProcessorOdom2D::create() exists in the ProcessorOdom2D class as a static method.
+ * The method ProcessorOdom2d::create() exists in the ProcessorOdom2d class as a static method.
* All these ProcessorXxx::create() methods need to have exactly the same API, regardless of the processor type.
- * This API includes a processor name, and a pointer to a base struct of parameters, ProcessorParamsBasePtr,
+ * This API includes a processor name, and a pointer to a base struct of parameters, ParamsProcessorBasePtr,
* that can be derived for each derived processor.
*
- * Here is an example of ProcessorOdom2D::create() extracted from processor_odom_2D.h:
+ * Here is an example of ProcessorOdom2d::create() extracted from processor_odom_2d.h:
*
* \code
- * static ProcessorBasePtr create(const std::string& _name, ProcessorParamsBasePtr _params)
+ * static ProcessorBasePtr create(const std::string& _name, ParamsProcessorBasePtr _params)
* {
* // cast _params to good type
- * ProcessorParamsOdom2D* params = (ProcessorParamsOdom2D*)_params;
+ * ParamsProcessorOdom2d* params = (ParamsProcessorOdom2d*)_params;
*
- * ProcessorBasePtr prc = new ProcessorOdom2D(params);
- * prc->setName(_name); // pass the name to the created ProcessorOdom2D.
+ * ProcessorBasePtr prc = new ProcessorOdom2d(params);
+ * prc->setName(_name); // pass the name to the created ProcessorOdom2d.
* return prc;
* }
* \endcode
*
* #### Achieving automatic registration
* Currently, registering is performed in each specific ProcessorXxxx source file, processor_xxxx.cpp.
- * For example, in processor_odom_2D.cpp we find the line:
+ * For example, in processor_odom_2d.cpp we find the line:
*
* \code
- * const bool registered_odom_2D = ProcessorFactory::get().registerCreator("ODOM 2D", ProcessorOdom2D::create);
+ * const bool registered_odom_2d = FactoryProcessor::registerCreator("ODOM 2d", ProcessorOdom2d::create);
* \endcode
*
- * which is a static invocation (i.e., it is placed at global scope outside of the ProcessorOdom2D class).
+ * which is a static invocation (i.e., it is placed at global scope outside of the ProcessorOdom2d class).
* Therefore, at application level, all processors that have a .cpp file compiled are automatically registered.
*
* #### Unregister processor creators
@@ -99,39 +120,39 @@ namespace wolf
* It only needs to be passed the string of the processor type.
*
* \code
- * ProcessorFactory::get().unregisterCreator("ODOM 2D");
+ * FactoryProcessor::unregisterCreator("ODOM 2d");
* \endcode
*
* #### Creating processors
* Prior to invoking the creation of a processor of a particular type,
* you must register the creator for this type into the factory.
*
- * To create a ProcessorOdom2D, you type:
+ * To create a ProcessorOdom2d, you type:
*
* \code
- * ProcessorFactory::get().create("ODOM 2D", "main odometry", params_ptr);
+ * FactoryProcessor::create("ODOM 2d", "main odometry", params_ptr);
* \endcode
*
* #### Example 1 : using the Factories alone
- * We provide the necessary steps to create a processor of class ProcessorOdom2D in our application,
- * and bind it to a SensorOdom2D:
+ * We provide the necessary steps to create a processor of class ProcessorOdom2d in our application,
+ * and bind it to a SensorOdom2d:
*
* \code
- * #include "sensor_odom_2D.h" // provides SensorOdom2D and SensorFactory
- * #include "processor_odom_2D.h" // provides ProcessorOdom2D and ProcessorFactory
+ * #include "sensor_odom_2d.h" // provides SensorOdom2d and FactorySensor
+ * #include "processor_odom_2d.h" // provides ProcessorOdom2d and FactoryProcessor
*
- * // Note: SensorOdom2D::create() is already registered, automatically.
- * // Note: ProcessorOdom2D::create() is already registered, automatically.
+ * // Note: SensorOdom2d::create() is already registered, automatically.
+ * // Note: ProcessorOdom2d::create() is already registered, automatically.
*
- * // First create the sensor (See SensorFactory for details)
- * SensorBasePtr sensor_ptr = SensorFactory::get().create ( "ODOM 2D" , "Main odometer" , extrinsics , &intrinsics );
+ * // First create the sensor (See FactorySensor for details)
+ * SensorBasePtr sensor_ptr = FactorySensor::create ( "ODOM 2d" , "Main odometer" , extrinsics , &intrinsics );
*
- * // To create a odometry integrator, provide a type="ODOM 2D", a name="main odometry", and a pointer to the parameters struct:
+ * // To create a odometry integrator, provide a type="ODOM 2d", a name="main odometry", and a pointer to the parameters struct:
*
- * ProcessorParamsOdom2D params({...}); // fill in the derived struct (note: ProcessorOdom2D actually has no input params)
+ * ParamsProcessorOdom2d params({...}); // fill in the derived struct (note: ProcessorOdom2d actually has no input params)
*
* ProcessorBasePtr processor_ptr =
- * ProcessorFactory::get().create ( "ODOM 2D" , "main odometry" , ¶ms );
+ * FactoryProcessor::create ( "ODOM 2d" , "main odometry" , ¶ms );
*
* // Bind processor to sensor
* sensor_ptr->addProcessor(processor_ptr);
@@ -145,32 +166,33 @@ namespace wolf
* The example 1 above can be accomplished as follows (we obviated for simplicity all the parameter creation),
*
* \code
- * #include "sensor_odom_2D.h"
- * #include "processor_odom_2D.h"
+ * #include "sensor_odom_2d.h"
+ * #include "processor_odom_2d.h"
* #include "problem.h"
*
- * Problem problem(FRM_PO_2D);
- * problem.installSensor ( "ODOM 2D" , "Main odometer" , extrinsics , &intrinsics );
- * problem.installProcessor ( "ODOM 2D" , "Odometry" , "Main odometer" , ¶ms );
+ * Problem problem(FRM_PO_2d);
+ * problem.installSensor ( "ODOM 2d" , "Main odometer" , extrinsics , &intrinsics );
+ * problem.installProcessor ( "ODOM 2d" , "Odometry" , "Main odometer" , ¶ms );
* \endcode
*
* You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````.
*/
- class WolfSubscriberWrapper;
- typedef Factory<WolfSubscriberWrapper,
+ class Subscriber;
+ typedef Factory<Subscriber,
const std::string&,
const ParamsServer&,
- const SensorBasePtr> SubscriberFactory;
+ const SensorBasePtr,
+ ros::NodeHandle&> FactorySubscriber;
template<>
-inline std::string SubscriberFactory::getClass()
+inline std::string FactorySubscriber::getClass() const
{
- return "SubscriberFactory";
+ return "FactorySubscriber";
}
#define WOLF_REGISTER_SUBSCRIBER(SubscriberType) \
namespace{ const bool WOLF_UNUSED SubscriberType##Registered = \
- wolf::SubscriberFactory::get().registerCreator(#SubscriberType, SubscriberType::create); } \
+ wolf::FactorySubscriber::registerCreator(#SubscriberType, SubscriberType::create); } \
} /* namespace wolf */
-#endif /* SUBSCRIBER_FACTORY_H_ */
+#endif /* FACTORY_SUBSCRIBER_H_ */
diff --git a/include/node.h b/include/node.h
new file mode 100644
index 0000000000000000000000000000000000000000..3113944caafbe85c386ed2454e7b4bf014f31d65
--- /dev/null
+++ b/include/node.h
@@ -0,0 +1,112 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+/**************************
+ * WOLF includes *
+ **************************/
+#include <core/common/node_base.h>
+#include <core/common/wolf.h>
+#include <core/capture/capture_odom_2d.h>
+#include <core/ceres_wrapper/solver_ceres.h>
+#include <core/sensor/sensor_odom_2d.h>
+#include <core/processor/processor_odom_2d.h>
+#include <core/problem/problem.h>
+#include <core/utils/loader.h>
+#include <core/yaml/parser_yaml.h>
+#include <core/solver/factory_solver.h>
+
+
+/**************************
+ * CERES includes *
+ **************************/
+#include <ros/ros.h>
+#include <ros/package.h>
+#include <nav_msgs/Odometry.h>
+#include "tf/LinearMath/Transform.h"
+#include "tf/transform_datatypes.h"
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+
+/**************************
+ * STD includes *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+#include <memory>
+#include <fstream>
+#include <string>
+
+#include "subscriber.h"
+#include "publisher.h"
+
+using namespace wolf;
+using namespace std;
+
+class WolfRosNode
+{
+ public:
+ //wolf problem
+ ProblemPtr problem_ptr_;
+
+ // ROS node handle
+ ros::NodeHandle nh_;
+
+ // subscribers
+ std::vector<SubscriberPtr> subscribers_;
+ // publishers
+ std::vector<PublisherPtr> publishers_;
+
+
+ protected:
+ // solver
+ SolverManagerPtr solver_;
+ ros::Time last_cov_stamp_;
+
+ // profiling
+ bool profiling_;
+ std::ofstream profiling_file_;
+ std::chrono::time_point<std::chrono::high_resolution_clock> start_experiment_;
+
+ // print
+ bool print_problem_;
+ double print_period_;
+ ros::Time last_print_;
+ int print_depth_;
+ bool print_constr_by_, print_metric_, print_state_blocks_;
+
+ public:
+
+ double node_rate_;
+
+ WolfRosNode();
+
+ virtual ~WolfRosNode(){};
+
+ void solve();
+ void solveLoop();
+
+ void print();
+
+ void createProfilingFile();
+};
diff --git a/include/publisher.h b/include/publisher.h
new file mode 100644
index 0000000000000000000000000000000000000000..89781a49ec982cb193530827b0c8b5cddd79b1c0
--- /dev/null
+++ b/include/publisher.h
@@ -0,0 +1,207 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef WOLF_PUBLISHER_H
+#define WOLF_PUBLISHER_H
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "factory_publisher.h"
+
+namespace wolf
+{
+WOLF_PTR_TYPEDEFS(Publisher);
+
+/*
+ * Macro for defining Autoconf publisher creator for WOLF's high level API.
+ *
+ * Place a call to this macro inside your class declaration (in the publisher_class.h file),
+ * preferably just after the constructors.
+ *
+ * In order to use this macro, the derived publisher class, PublisherClass,
+ * must have a constructor available with the API:
+ *
+ * PublisherClass(const std::string& _unique_name,
+ * const ParamsServer& _server,
+ * const ProblemPtr _problem);
+ */
+#define WOLF_PUBLISHER_CREATE(PublisherClass) \
+ static PublisherPtr create(const std::string& _unique_name, \
+ const ParamsServer& _server, \
+ const ProblemPtr _problem, \
+ ros::NodeHandle& _nh) \
+ { \
+ PublisherPtr pub = std::make_shared<PublisherClass>(_unique_name, _server, _problem); \
+ pub->initialize(_nh, pub->getTopic()); \
+ return pub; \
+} \
+
+class Publisher
+{
+ public:
+
+ Publisher(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem) :
+ problem_(_problem),
+ first_publish_time_(ros::Time(0)),
+ last_n_period_(0),
+ name_(_unique_name),
+ prefix_("ROS publisher/" + _unique_name),
+ n_publish_(0),
+ acc_duration_(0),
+ max_duration_(0)
+ {
+ period_ = _server.getParam<double>(prefix_ + "/period");
+ topic_ = _server.getParam<std::string>(prefix_ + "/topic");
+ };
+
+ virtual ~Publisher(){};
+
+ virtual void run() final;
+ virtual void stop() final;
+ virtual void loop() final;
+
+ virtual void initialize(ros::NodeHandle& nh, const std::string& topic) = 0;
+
+ virtual void publish() final;
+
+ virtual void publishDerived() = 0;
+
+ virtual bool ready();
+
+ std::string getTopic() const;
+
+ protected:
+
+ template<typename T>
+ T getParamWithDefault(const ParamsServer &_server,
+ const std::string &_param_name,
+ const T _default_value) const;
+
+ ProblemPtr problem_;
+ ros::Publisher publisher_;
+ double period_;
+ ros::Time first_publish_time_;
+ long unsigned int last_n_period_;
+ std::string name_;
+ std::string prefix_;
+ std::string topic_;
+
+ std::thread pub_thread_;
+
+ // PROFILING
+ unsigned int n_publish_;
+ std::chrono::microseconds acc_duration_;
+ std::chrono::microseconds max_duration_;
+
+ public:
+ void printProfiling(std::ostream& stream = std::cout) const;
+};
+
+inline std::string Publisher::getTopic() const
+{
+ return topic_;
+}
+
+inline void Publisher::publish()
+{
+ if (last_n_period_ == 0)
+ first_publish_time_ = ros::Time::now();
+
+ auto start = std::chrono::high_resolution_clock::now();
+
+ publishDerived();
+
+ auto duration = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - start);
+ acc_duration_+= duration;
+ max_duration_ = std::max(max_duration_,duration);
+ n_publish_++;
+}
+
+inline bool Publisher::ready()
+{
+ return true;
+}
+
+inline void Publisher::printProfiling(std::ostream &_stream) const
+{
+ _stream << "\n" << name_ << ":"
+ << "\n\ttotal time: " << 1e-6 * acc_duration_.count() << " s"
+ << "\n\texecutions: " << n_publish_
+ << "\n\taverage time: " << 1e-3 * acc_duration_.count() / n_publish_ << " ms"
+ << "\n\tmax time: " << 1e-3 * max_duration_.count() << " ms" << std::endl;
+}
+
+inline void Publisher::run()
+{
+ pub_thread_ = std::thread(&Publisher::loop, this);
+}
+
+inline void Publisher::stop()
+{
+ pub_thread_.join();
+}
+
+inline void Publisher::loop()
+{
+ auto awake_time = std::chrono::system_clock::now();
+ auto period = std::chrono::duration<int,std::milli>((int)(period_*1e3));
+
+ WOLF_DEBUG("Started publisher ", name_, " loop");
+
+ while (ros::ok())
+ {
+ if (ready())
+ publish();
+
+ // relax to fit output rate
+ awake_time += period;
+ std::this_thread::sleep_until(awake_time);
+ }
+ WOLF_DEBUG("Publisher ", name_, " loop finished");
+}
+
+template<typename T>
+inline T Publisher::getParamWithDefault(const ParamsServer &_server,
+ const std::string &_param_name,
+ const T _default_value) const
+{
+ try
+ {
+ return _server.getParam<T>(_param_name);
+ }
+ catch (...)
+ {
+ WOLF_INFO("Publisher: Parameter ", _param_name, " is missing. Taking default value: ", _default_value);
+ return _default_value;
+ }
+}
+
+} // namespace wolf
+#endif
diff --git a/include/publisher_graph.h b/include/publisher_graph.h
new file mode 100644
index 0000000000000000000000000000000000000000..fec1e5f8940b175233bec229b5212543f7a98af6
--- /dev/null
+++ b/include/publisher_graph.h
@@ -0,0 +1,106 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef PUBLISHER_GRAPH_H
+#define PUBLISHER_GRAPH_H
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/problem/problem.h"
+#include "publisher.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+
+namespace wolf
+{
+
+class PublisherGraph: public Publisher
+{
+ public:
+ PublisherGraph(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem);
+ WOLF_PUBLISHER_CREATE(PublisherGraph);
+
+ virtual ~PublisherGraph(){};
+
+ void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+ void publishDerived() override;
+
+ protected:
+
+ void publishLandmarks();
+ void publishFactors();
+ void publishTrajectory();
+
+ virtual bool fillLandmarkMarkers(LandmarkBaseConstPtr lmk,
+ visualization_msgs::Marker& lmk_marker,
+ visualization_msgs::Marker& lmk_text_marker);
+ virtual bool fillFactorMarker(FactorBaseConstPtr fac,
+ visualization_msgs::Marker& fac_marker,
+ visualization_msgs::Marker& fac_text_marker);
+ virtual bool fillFrameMarker(FrameBaseConstPtr frm,
+ visualization_msgs::Marker& frm_marker,
+ visualization_msgs::Marker& frm_text_marker);
+
+ std::string factorString(FactorBaseConstPtr fac) const;
+
+ // publishers
+ ros::Publisher landmarks_publisher_;
+ ros::Publisher trajectory_publisher_;
+ ros::Publisher factors_publisher_;
+
+ // Marker arrayss
+ visualization_msgs::MarkerArray landmarks_marker_array_;
+ visualization_msgs::MarkerArray trajectory_marker_array_;
+ visualization_msgs::MarkerArray factors_marker_array_;
+
+ // Markers
+ visualization_msgs::Marker landmark_marker_, landmark_text_marker_;
+ visualization_msgs::Marker frame_marker_, frame_text_marker_;
+ visualization_msgs::Marker factor_marker_, factor_text_marker_;
+
+ // Options
+ std::string map_frame_id_;
+ bool viz_overlapped_factors_, viz_inactive_factors_;
+ double viz_scale_, text_scale_, factors_width_, factors_absolute_height_, landmark_text_z_offset_, landmark_width_, landmark_length_, frame_width_, frame_length_, frame_vel_scale_;
+ std_msgs::ColorRGBA frame_vel_color_, factor_abs_color_, factor_motion_color_, factor_loop_color_, factor_lmk_color_, factor_geom_color_, factor_other_color_;
+
+ // auxiliar variables
+ unsigned int landmark_max_hits_;
+ ros::Time last_markers_publish_;
+ std::set<std::string> factors_drawn_;
+
+
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherGraph)
+
+}
+
+#endif
diff --git a/include/publisher_pose.h b/include/publisher_pose.h
new file mode 100644
index 0000000000000000000000000000000000000000..d6c72de08aadf1d6c860581367c04d8298ddc0e5
--- /dev/null
+++ b/include/publisher_pose.h
@@ -0,0 +1,84 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef PUBLISHER_POSE_H
+#define PUBLISHER_POSE_H
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/problem/problem.h"
+
+#include "publisher.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <geometry_msgs/PoseArray.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <visualization_msgs/Marker.h>
+#include <tf/transform_listener.h>
+
+namespace wolf
+{
+
+class PublisherPose: public Publisher
+{
+ bool extrinsics_;
+ int max_points_;
+ double line_size_;
+
+ geometry_msgs::PoseArray pose_array_msg_;
+ visualization_msgs::Marker marker_msg_;
+ geometry_msgs::PoseWithCovarianceStamped pose_with_cov_msg_;
+ std_msgs::ColorRGBA marker_color_;
+ SensorBasePtr sensor_;
+ std::string frame_id_, map_frame_id_;
+
+ ros::Publisher pub_pose_array_, pub_marker_, pub_pose_with_cov_;
+
+ public:
+ PublisherPose(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem);
+ WOLF_PUBLISHER_CREATE(PublisherPose);
+
+ virtual ~PublisherPose(){};
+
+ void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+ void publishDerived() override;
+
+ void publishPose();
+
+ protected:
+
+ bool listenTf();
+ Eigen::Quaterniond q_frame_;
+ Eigen::Vector3d t_frame_;
+ tf::TransformListener tfl_;
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherPose)
+}
+
+#endif
diff --git a/include/publisher_state_block.h b/include/publisher_state_block.h
new file mode 100644
index 0000000000000000000000000000000000000000..92ffb5df49ac0e75cc792b5725700811719c525c
--- /dev/null
+++ b/include/publisher_state_block.h
@@ -0,0 +1,65 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef PUBLISHER_STATE_BLOCK_H
+#define PUBLISHER_STATE_BLOCK_H
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/problem/problem.h"
+
+#include "publisher.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <std_msgs/Float64MultiArray.h>
+
+namespace wolf
+{
+
+class PublisherStateBlock: public Publisher
+{
+ protected:
+ std_msgs::Float64MultiArray state_msg_;
+ SensorBasePtr sensor_;
+ char key_;
+ bool msg_init_;
+
+ public:
+ PublisherStateBlock(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem);
+ WOLF_PUBLISHER_CREATE(PublisherStateBlock);
+
+ virtual ~PublisherStateBlock(){};
+
+ void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+ void publishDerived() override;
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherStateBlock)
+}
+
+#endif
diff --git a/include/publisher_tf.h b/include/publisher_tf.h
new file mode 100644
index 0000000000000000000000000000000000000000..c9105d2bc9a86d4d69ac06775a97e30cca0ba740
--- /dev/null
+++ b/include/publisher_tf.h
@@ -0,0 +1,92 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef PUBLISHER_TF_H
+#define PUBLISHER_TF_H
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/problem/problem.h"
+
+#include "publisher.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <tf/transform_listener.h>
+#include <tf/transform_broadcaster.h>
+#include <tf2_ros/static_transform_broadcaster.h>
+
+namespace wolf
+{
+
+tf::Transform stateToTfTransform(const VectorComposite& state, const int& dim)
+{
+ assert(state.includesStructure("PO"));
+
+ // 2D
+ if (dim == 2)
+ {
+ return tf::Transform (tf::createQuaternionFromYaw(state.at('O')(0)),
+ tf::Vector3(state.at('P')(0), state.at('P')(1), 0) );
+ }
+ // 3D
+ else
+ {
+ return tf::Transform (tf::Quaternion(state.at('O')(0), state.at('O')(1), state.at('O')(2), state.at('O')(3)),
+ tf::Vector3(state.at('P')(0), state.at('P')(1), state.at('P')(2)) );
+ }
+}
+
+class PublisherTf: public Publisher
+{
+ protected:
+ std::string base_frame_id_, odom_frame_id_, map_frame_id_;
+ tf::TransformBroadcaster tfb_;
+ tf2_ros::StaticTransformBroadcaster stfb_;
+
+ tf::TransformListener tfl_;
+
+ tf::StampedTransform T_odom2base_;//, T_map2odom_;
+ geometry_msgs::TransformStamped Tmsg_map2odom_;
+
+ bool publish_odom_tf_;
+ bool state_available_; // used to not repeat warnings regarding availability of state
+
+ public:
+ PublisherTf(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem);
+ WOLF_PUBLISHER_CREATE(PublisherTf);
+
+ virtual ~PublisherTf(){};
+
+ void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+ void publishDerived() override;
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherTf)
+}
+
+#endif
diff --git a/include/publisher_trajectory.h b/include/publisher_trajectory.h
new file mode 100644
index 0000000000000000000000000000000000000000..eddfa6073ba7bbdff9f92f34f395173e10311aaa
--- /dev/null
+++ b/include/publisher_trajectory.h
@@ -0,0 +1,72 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+/*
+ * publisher_trajectory.h
+ *
+ * Created on: Feb 03, 2022
+ * Author: igeer
+ */
+//--------LICENSE_END--------
+#ifndef PUBLISHER_TRAJECTORY_H
+#define PUBLISHER_TRAJECTORY_H
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/problem/problem.h"
+
+#include "publisher.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <nav_msgs/Path.h>
+
+namespace wolf
+{
+
+class PublisherTrajectory: public Publisher
+{
+ nav_msgs::Path path_msg_;
+
+ std::string frame_id_;
+
+ public:
+ PublisherTrajectory(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem);
+ WOLF_PUBLISHER_CREATE(PublisherTrajectory);
+
+ virtual ~PublisherTrajectory(){};
+
+ void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+ void publishDerived() override;
+
+ void publishTrajectory();
+
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherTrajectory)
+}
+
+#endif
diff --git a/include/subscriber.h b/include/subscriber.h
new file mode 100644
index 0000000000000000000000000000000000000000..950929b7f116825c82c6d2e2e15ce283cbb4e15f
--- /dev/null
+++ b/include/subscriber.h
@@ -0,0 +1,168 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef WOLF_SUBSCRIBER_H_
+#define WOLF_SUBSCRIBER_H_
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include <core/sensor/sensor_base.h>
+#include "factory_subscriber.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+
+namespace wolf {
+WOLF_PTR_TYPEDEFS(Subscriber);
+
+/*
+ * Macro for defining Autoconf subscriber creator for WOLF's high level API.
+ *
+ * Place a call to this macro inside your class declaration (in the subscriber_class.h file),
+ * preferably just after the constructors.
+ *
+ * In order to use this macro, the derived subscriber class, SubscriberClass,
+ * must have a constructor available with the API:
+ *
+ * SubscriberClass(const std::string& _unique_name,
+ * const ParamsServer& _server,
+ * const SensorBasePtr _sensor_ptr);
+ */
+#define WOLF_SUBSCRIBER_CREATE(SubscriberClass) \
+static SubscriberPtr create(const std::string& _unique_name, \
+ const ParamsServer& _server, \
+ const SensorBasePtr _sensor_ptr, \
+ ros::NodeHandle& _nh) \
+{ \
+ SubscriberPtr sub = std::make_shared<SubscriberClass>(_unique_name, _server, _sensor_ptr); \
+ sub->initialize(_nh, sub->getTopic()); \
+ return sub; \
+} \
+
+class Subscriber
+{
+ protected:
+ //wolf
+ SensorBasePtr sensor_ptr_;
+ std::string prefix_;
+ std::string name_;
+ std::string topic_;
+
+ // ros
+ ros::Subscriber sub_;
+ ros::Time last_stamp_;
+ int last_seq_;
+
+ public:
+ Subscriber(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr) :
+ sensor_ptr_(_sensor_ptr),
+ prefix_("ROS subscriber/" + _unique_name),
+ name_(_unique_name),
+ last_stamp_(0),
+ last_seq_(-1)
+ {
+ topic_ = _server.getParam<std::string>(prefix_ + "/topic");
+ }
+
+ virtual ~Subscriber(){};
+
+ virtual void initialize(ros::NodeHandle& nh, const std::string& topic) = 0;
+
+ std::string getTopic() const;
+
+ std::string getName() const;
+
+ ros::Time getLastStamp() const;
+
+ virtual double secondsSinceLastCallback();
+
+ protected:
+
+ void updateLastHeader(const std_msgs::Header& _header);
+
+ template<typename T>
+ T getParamWithDefault(const ParamsServer &_server,
+ const std::string &_param_name,
+ const T _default_value) const;
+};
+
+inline std::string Subscriber::getTopic() const
+{
+ return topic_;
+}
+
+inline std::string Subscriber::getName() const
+{
+ return name_;
+}
+
+inline ros::Time Subscriber::getLastStamp() const
+{
+ return last_stamp_;
+}
+
+inline double Subscriber::secondsSinceLastCallback()
+{
+ if (last_stamp_ == ros::Time(0))
+ {
+ WOLF_WARN("Subscriber: 'last_stamp_` not initialized. No messages have been received or ", name_, " is not updating headers (be sure to add 'updateLastHeader(msg->header)' in your subscriber callback).");
+ return 0;
+ }
+ return (ros::Time::now() - last_stamp_).toSec();
+}
+
+inline void Subscriber::updateLastHeader(const std_msgs::Header& _header)
+{
+ // stamp
+ if ((ros::Time::now() - _header.stamp).toSec() > 1) // in case use_sim_time == false
+ last_stamp_ = ros::Time::now();
+ else
+ last_stamp_ = _header.stamp;
+
+ // seq
+ if (last_seq_ >= 0 and _header.seq - last_seq_ > 1)
+ ROS_ERROR("Subscriber %s lost %i messages!", name_.c_str(), _header.seq - last_seq_ - 1);
+ last_seq_ = _header.seq;
+}
+
+template<typename T>
+inline T Subscriber::getParamWithDefault(const ParamsServer &_server,
+ const std::string &_param_name,
+ const T _default_value) const
+{
+ try
+ {
+ return _server.getParam<T>(_param_name);
+ }
+ catch (...)
+ {
+ WOLF_INFO("Subscriber: Parameter ", _param_name, " is missing. Taking default value: ", _default_value);
+ return _default_value;
+ }
+}
+
+}
+#endif
diff --git a/include/subscriber_diffdrive.h b/include/subscriber_diffdrive.h
new file mode 100644
index 0000000000000000000000000000000000000000..935d729b4e4a08fb13abc8d284198765ea7bfaa7
--- /dev/null
+++ b/include/subscriber_diffdrive.h
@@ -0,0 +1,59 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+/**************************
+ * WOLF includes *
+ **************************/
+#include <core/common/wolf.h>
+#include "subscriber.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include "sensor_msgs/JointState.h"
+
+namespace wolf
+{
+class SubscriberDiffdrive : public Subscriber
+{
+ protected:
+ ros::Time last_odom_stamp_;
+ Eigen::Vector2d last_angles_;
+ int last_odom_seq_;
+ int last_kf = -1;
+ double ticks_cov_factor_;
+
+ public:
+
+ SubscriberDiffdrive(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr);
+ WOLF_SUBSCRIBER_CREATE(SubscriberDiffdrive);
+
+ virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+ void callback(const sensor_msgs::JointState::ConstPtr& msg);
+};
+
+WOLF_REGISTER_SUBSCRIBER(SubscriberDiffdrive)
+} // namespace wolf
diff --git a/include/subscriber_odom2d.h b/include/subscriber_odom2d.h
new file mode 100644
index 0000000000000000000000000000000000000000..c172d281b0d90613c674cd3ac6a5223c2c3507c7
--- /dev/null
+++ b/include/subscriber_odom2d.h
@@ -0,0 +1,57 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+/**************************
+ * WOLF includes *
+ **************************/
+#include <core/common/wolf.h>
+#include <core/utils/params_server.h>
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+
+#include "subscriber.h"
+
+namespace wolf
+{
+class SubscriberOdom2d : public Subscriber
+{
+ protected:
+ ros::Time last_odom_stamp_;
+ SensorOdom2dPtr sensor_odom_;
+
+ public:
+
+ SubscriberOdom2d(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr);
+ WOLF_SUBSCRIBER_CREATE(SubscriberOdom2d);
+
+ virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+ void callback(const nav_msgs::Odometry::ConstPtr& msg);
+};
+
+WOLF_REGISTER_SUBSCRIBER(SubscriberOdom2d)
+} // namespace wolf
diff --git a/include/wolf_ros_node.h b/include/wolf_ros_node.h
deleted file mode 100644
index 45d65fb3c3d27a51ce170ab57885b74cbf1ad343..0000000000000000000000000000000000000000
--- a/include/wolf_ros_node.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/**************************
- * WOLF includes *
- **************************/
-#include "core/common/node_base.h"
-#include "core/common/wolf.h"
-#include <core/capture/capture_odom_2D.h>
-#include <core/sensor/sensor_odom_2D.h>
-#include <core/processor/processor_odom_2D.h>
-#include <core/problem/problem.h>
-#include <core/utils/loader.hpp>
-#include <core/yaml/parser_yaml.hpp>
-
-
-/**************************
- * CERES includes *
- **************************/
-#include <core/ceres_wrapper/ceres_manager.h>
-//#include "glog/logging.h"
-
-/**************************
- * ROS includes *
- **************************/
-#include <ros/ros.h>
-#include <ros/package.h>
-#include <nav_msgs/Odometry.h>
-#include "tf/LinearMath/Transform.h"
-#include "tf/transform_datatypes.h"
-#include <tf/transform_broadcaster.h>
-#include <tf/transform_listener.h>
-#include <visualization_msgs/Marker.h>
-#include <visualization_msgs/MarkerArray.h>
-
-/**************************
- * STD includes *
- **************************/
-#include <iostream>
-#include <iomanip>
-#include <queue>
-#include <memory>
-
-#include "subscriber_factory.h"
-#include "wolf_ros_subscriber.h"
-#include "wolf_ros_visualizer.h"
-//#include "wolf_ros_scan_visualizer.h"
-
-using namespace wolf;
-using namespace std;
-
-class WolfRosNode
-{
- public:
- //wolf problem
- ProblemPtr problem_ptr_;
-
- // ROS node handle
- ros::NodeHandle nh_;
-
-
- protected:
- // solver
- CeresManagerPtr ceres_manager_ptr_;
-
- // visualizer
- std::shared_ptr<WolfRosVisualizer> wolf_viz_;
-
- // subscribers
- std::vector<WolfSubscriberWrapperPtr> subscribers_;
-
- // transforms
- tf::TransformBroadcaster tfb_;
- tf::TransformListener tfl_;
- std::string base_frame_id_, map_frame_id_, odom_frame_id_;
- tf::Transform T_map2odom;
-
- public:
- WolfRosNode();
-
- virtual ~WolfRosNode(){};
-
- void solve();
-
- void broadcastTf();
-
- void visualize();
-
- void updateTf();
-};
diff --git a/include/wolf_ros_subscriber.h b/include/wolf_ros_subscriber.h
deleted file mode 100644
index 1b3060f0b2fbe1aa7d21b00842e9a7e49680424b..0000000000000000000000000000000000000000
--- a/include/wolf_ros_subscriber.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#ifndef WOLF_ROS_SUBSCRIBER_H_
-#define WOLF_ROS_SUBSCRIBER_H_
-
-/**************************
- * WOLF includes *
- **************************/
-#include <core/sensor/sensor_base.h>
-
-/**************************
- * ROS includes *
- **************************/
-#include <ros/ros.h>
-#include <nav_msgs/Odometry.h>
-
-namespace wolf {
-WOLF_PTR_TYPEDEFS(WolfSubscriberWrapper);
-
-class WolfSubscriberWrapper
-{
- protected:
- //wolf
- SensorBasePtr sensor_ptr_;
-
- // ros
- ros::Subscriber sub_;
-
- public:
- WolfSubscriberWrapper(const SensorBasePtr& sensor_ptr) :
- sensor_ptr_(sensor_ptr)
- {
- }
- virtual ~WolfSubscriberWrapper(){};
-
- virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic) = 0;
-};
-}
-#endif
diff --git a/include/wolf_ros_visualizer.h b/include/wolf_ros_visualizer.h
deleted file mode 100644
index 2779c76d7e55e8d18c6d8a2280ef25925732c067..0000000000000000000000000000000000000000
--- a/include/wolf_ros_visualizer.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/**************************
- * ROS includes *
- **************************/
-#include <ros/ros.h>
-#include <visualization_msgs/Marker.h>
-#include <visualization_msgs/MarkerArray.h>
-#include <tf/transform_datatypes.h>
-
-/**************************
- * WOLF includes *
- **************************/
-#include "core/common/wolf.h"
-#include "core/problem/problem.h"
-
-using namespace wolf;
-
-class WolfRosVisualizer
-{
- public:
- bool publish_markers_;
-
- WolfRosVisualizer();
-
- void initialize(ros::NodeHandle& nh);
-
- virtual ~WolfRosVisualizer(){};
-
- void visualize(const ProblemPtr problem);
-
- private:
-
- void publishLandmarks(const ProblemPtr problem);
- void publishFactors(const ProblemPtr problem);
- void publishTrajectory(const ProblemPtr problem);
-
- void fillLandmarkMarkers(LandmarkBaseConstPtr lmk,
- visualization_msgs::Marker& lmk_marker,
- visualization_msgs::Marker& lmk_text_marker);
- void fillFactorMarker(FactorBaseConstPtr fac,
- visualization_msgs::Marker& fac_marker);
- void fillFrameMarker(FrameBaseConstPtr frm,
- visualization_msgs::Marker& frm_marker);
-
-
- // publishers
- ros::Publisher landmarks_publisher_;
- ros::Publisher trajectory_publisher_;
- ros::Publisher factors_publisher_;
-
- // Marker arrayss
- visualization_msgs::MarkerArray landmarks_marker_array_;
- visualization_msgs::MarkerArray trajectory_marker_array_;
- visualization_msgs::MarkerArray factors_marker_array_;
-
- // Markers
- visualization_msgs::Marker landmark_marker_, landmark_text_marker_;
- visualization_msgs::Marker frame_marker_, frame_text_marker_;
- visualization_msgs::Marker factor_marker_;
-
- // Options
- std::string map_frame_id_;
- bool viz_factors_, viz_landmarks_, viz_trajectory_;
- double factors_width_, landmark_text_z_offset_, landmark_width_, landmark_length_, frame_width_, frame_length_;
- std_msgs::ColorRGBA color_active_, color_inactive_;
-
- // auxiliar variables
- unsigned int landmark_max_hits_;
- double viz_period_;
- ros::Time last_markers_publish_;
-};
diff --git a/license_header_2022.txt b/license_header_2022.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c987025f9dba3e7af993051b9bdf4b5ff400e0d
--- /dev/null
+++ b/license_header_2022.txt
@@ -0,0 +1,17 @@
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
diff --git a/package.xml b/package.xml
index cbdaa5d637680869a393fb0756fbe5b293bc3dee..de43c538101cdb9822e207f24ef42eb7766058f3 100644
--- a/package.xml
+++ b/package.xml
@@ -51,17 +51,22 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
+ <build_depend>nav_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>tf</build_depend>
+ <build_depend>tf2_ros</build_depend>
<!-- <build_depend>roslib</build_depend> -->
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
+ <build_export_depend>nav_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>tf</build_export_depend>
+ <build_export_depend>tf2_ros</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>tf</exec_depend>
+ <exec_depend>tf2_ros</exec_depend>
<!-- <exec_depend>roslib</exec_depend> -->
<!-- The export tag contains other, unspecified, tags -->
diff --git a/src/node.cpp b/src/node.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d51fd73e76e46507f08db6d17aac04343ec83d9e
--- /dev/null
+++ b/src/node.cpp
@@ -0,0 +1,284 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include <chrono>
+#include "node.h"
+#include "ros/time.h"
+#include "core/solver/factory_solver.h"
+#include "tf/transform_datatypes.h"
+#include "factory_subscriber.h"
+#include "factory_publisher.h"
+
+WolfRosNode::WolfRosNode()
+ : nh_(ros::this_node::getName())
+ , last_print_(ros::Time(0))
+{
+ // ROS PARAMS
+ std::string yaml_file, plugins_path, subscribers_path;
+ nh_.param<std::string>("yaml_file_path",
+ yaml_file,
+ ros::package::getPath("wolf_ros_node") + "/yaml/params_demo.yaml");
+ nh_.param<std::string>("plugins_path",
+ plugins_path,
+ "/usr/local/lib/");
+ nh_.param<std::string>("packages_path",
+ subscribers_path,
+ ros::package::getPath("wolf_ros_node") + "/../../devel/lib/");
+
+ // PARAM SERVER CONFIGURATION
+ std::cout << "yaml: " << yaml_file << std::endl;
+ int found = yaml_file.find_last_of("\\/");
+
+ std::string yaml_dir = yaml_file.substr(0, found);
+ ParserYaml parser = ParserYaml(yaml_file, yaml_dir);
+ ParamsServer server = ParamsServer(parser.getParams());
+
+ server.addParam("plugins_path", plugins_path);
+ server.addParam("packages_path", subscribers_path);
+
+ server.print();
+
+ // PROBLEM
+ ROS_INFO("Creating problem...");
+ problem_ptr_ = Problem::autoSetup(server);
+
+ // SOLVER
+ ROS_INFO("Creating solver...");
+ solver_ = FactorySolver::create("SolverCeres", problem_ptr_, server);
+
+ // ROS
+ node_rate_ = server.getParam<double>("problem/node_rate");
+
+ // SUBSCRIBERS
+ ROS_INFO("Creating subscribers...");
+ for (auto it : server.getParam<std::vector<std::map<std::string, std::string>>>("ROS subscriber"))
+ {
+ std::string subscriber = it["type"];
+ std::string topic = it["topic"];
+ std::string sensor = it["sensor_name"];
+ WOLF_TRACE("From sensor {" + sensor + "} subscribing {" + subscriber + "} to {" + topic + "} topic");
+ subscribers_.push_back(FactorySubscriber::create(subscriber,
+ subscriber+" - " + topic,
+ server,
+ problem_ptr_->getSensor(sensor),
+ nh_));
+ }
+
+ // PUBLISHERS
+ ROS_INFO("Creating publishers...");
+ for (auto it : server.getParam<std::vector<std::map<std::string, std::string>>>("ROS publisher"))
+ {
+ WOLF_INFO("Pub: ", it["type"]);
+ publishers_.push_back(FactoryPublisher::create(it["type"],
+ it["type"]+" - "+it["topic"],
+ server,
+ problem_ptr_,
+ nh_));
+ }
+
+ // PROFILING
+ profiling_ = server.getParam<bool>("debug/profiling");
+ if (profiling_)
+ {
+ auto prof_file = server.getParam<std::string>("debug/profiling_file");
+ // change ~ with HOME using environment variable
+ if (prof_file.at(0) == '~')
+ prof_file = std::string(std::getenv("HOME")) + prof_file.substr(1);
+
+ profiling_file_.open (prof_file);
+ if (not profiling_file_.is_open())
+ ROS_ERROR("Error in opening file %s to store profiling!", prof_file.c_str());
+ }
+
+ // PRINT
+ print_problem_ = server.getParam<bool>("debug/print_problem");
+ if(print_problem_)
+ {
+ print_period_ = server.getParam<double> ("debug/print_period");
+ print_depth_ = server.getParam<int> ("debug/print_depth");
+ print_constr_by_ = server.getParam<bool> ("debug/print_constr_by");
+ print_metric_ = server.getParam<bool> ("debug/print_metric");
+ print_state_blocks_ = server.getParam<bool> ("debug/print_state_blocks");
+ last_print_ = ros::Time::now();
+ if (print_depth_ > 4 or print_depth_ < 0)
+ throw std::runtime_error("Wrong parameter value, 'debug/print_depth' should be 0, 1, 2, 3 or 4");
+ }
+
+ start_experiment_ = std::chrono::high_resolution_clock::now();
+
+ ROS_INFO("Ready!");
+}
+
+void WolfRosNode::solve()
+{
+ if (solver_->getVerbosity() != SolverManager::ReportVerbosity::QUIET)
+ ROS_INFO("================ solve ==================");
+
+ std::string report = solver_->solve();
+
+ if (!report.empty())
+ std::cout << report << std::endl;
+
+ if (solver_->getParams()->compute_cov and (ros::Time::now() - last_cov_stamp_).toSec() > solver_->getCovPeriod())
+ {
+ auto start = std::chrono::high_resolution_clock::now();
+ if (solver_->computeCovariances())
+ {
+ auto duration = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - start);
+ last_cov_stamp_ = ros::Time::now();
+ if (solver_->getVerbosity() != SolverManager::ReportVerbosity::QUIET)
+ ROS_INFO("Covariances computed successfully! It took %li microseconds", duration.count());
+ }
+ else
+ {
+ // will try again after 10% of cov period
+ last_cov_stamp_ = last_cov_stamp_+ ros::Duration(0.1*solver_->getCovPeriod());
+ if (solver_->getVerbosity() != SolverManager::ReportVerbosity::QUIET)
+ ROS_WARN("Failed to compute covariances");
+ }
+ }
+}
+
+void WolfRosNode::solveLoop()
+{
+ auto awake_time = std::chrono::system_clock::now();
+ auto period = std::chrono::duration<int,std::milli>((int)(solver_->getPeriod()*1e3+1)); // 1ms added to allow pausing if rosbag paused if period==0
+ WOLF_DEBUG("Started solver loop");
+
+ while (ros::ok())
+ {
+ solve();
+
+ if(ros::isShuttingDown())
+ break;
+
+ // relax to fit output rate
+ awake_time += period;
+ std::this_thread::sleep_until(awake_time);
+ }
+ WOLF_DEBUG("Solver loop finished");
+}
+
+void WolfRosNode::print()
+{
+ if(print_problem_ and
+ (ros::Time::now() - last_print_).toSec() >= print_period_)
+ {
+ problem_ptr_->print(print_depth_, print_constr_by_, print_metric_, print_state_blocks_);
+ last_print_ = ros::Time::now();
+ }
+}
+
+void WolfRosNode::createProfilingFile()
+{
+ if (not profiling_)
+ return;
+
+ std::stringstream profiling_str;
+ profiling_str << "========== WOLF PROFILING ==========\n";
+ auto duration = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - start_experiment_);
+ profiling_str << "Experiment total time: " << 1e-6 * duration.count() << " s" << std::endl;
+
+ // solver
+ profiling_str << "\nSOLVER -----------------------------\n";
+ solver_->printProfiling(profiling_str);
+
+ // processors
+ profiling_str << "\nPROCESSORS -------------------------\n";
+ for (auto sensor : problem_ptr_->getHardware()->getSensorList())
+ for (auto proc : sensor->getProcessorList())
+ proc->printProfiling(profiling_str);
+
+ // publishers
+ profiling_str << "\nPUBLISHERS -------------------------\n";
+ for (auto pub : publishers_)
+ pub->printProfiling(profiling_str);
+
+ profiling_str << "\n";
+
+ // print
+ std::cout << profiling_str.str();
+
+ // file
+ profiling_file_ << profiling_str.str();
+ profiling_file_.close();
+}
+
+int main(int argc, char **argv)
+{
+ // Init ROS
+ ros::init(argc, argv, ros::this_node::getName());
+
+ // Wolf node
+ WolfRosNode wolf_node;
+
+ ros::Rate loopRate(wolf_node.node_rate_);
+
+ // periodic stuff
+ ros::Time last_check = ros::Time::now();
+
+ // Solver thread
+ std::thread solver_thread(&WolfRosNode::solveLoop, &wolf_node);
+ // set priority
+ struct sched_param Priority_Param; //struct to set priority
+ int priority = 99;
+ Priority_Param.sched_priority = priority;
+ int policy=SCHED_FIFO;
+ pthread_setschedparam(solver_thread.native_handle(), SCHED_FIFO, &Priority_Param);
+
+ // Init publishers threads
+ for(auto pub : wolf_node.publishers_)
+ pub->run();
+
+ while (ros::ok())
+ {
+ // check that subscribers received data (every second)
+ if ((ros::Time::now() - last_check).toSec() > 1)
+ {
+ for (auto sub : wolf_node.subscribers_)
+ WOLF_WARN_COND(sub->secondsSinceLastCallback() > 5, sub->getName(), " has not received any callback for ", sub->secondsSinceLastCallback(), "s.");
+ last_check = ros::Time::now();
+ }
+
+ // print periodically
+ wolf_node.print();
+
+ // execute pending callbacks
+ ros::spinOnce();
+
+ // relax to fit output rate
+ loopRate.sleep();
+ }
+
+ // Stop solver thread
+ WOLF_DEBUG("Node is shutting down outside loop... waiting for the thread to stop...");
+ solver_thread.join();
+ WOLF_DEBUG("thread stopped.");
+
+ // Stop publishers threads
+ for(auto pub : wolf_node.publishers_)
+ pub->stop();
+
+ // PROFILING ========================================
+ wolf_node.createProfilingFile();
+
+ return 0;
+}
diff --git a/src/publisher_graph.cpp b/src/publisher_graph.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2c9373f876127ea0408df8127f759f209c530557
--- /dev/null
+++ b/src/publisher_graph.cpp
@@ -0,0 +1,775 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "publisher_graph.h"
+#include <tf/transform_datatypes.h>
+#include "core/processor/processor_motion.h"
+
+namespace wolf
+{
+
+PublisherGraph::PublisherGraph(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem) :
+ Publisher(_unique_name, _server, _problem)
+{
+ Eigen::Vector4d color;
+
+ // LOAD PARAMETERS (all optionals) ---------------------------------------------------
+ // General
+ map_frame_id_ = getParamWithDefault<std::string>(_server, prefix_ + "/map_frame_id", "map");
+ viz_overlapped_factors_ = getParamWithDefault<bool> (_server, prefix_ + "/viz_overlapped_factors", false);
+ viz_inactive_factors_ = getParamWithDefault<bool> (_server, prefix_ + "/viz_inactive_factors_", false);
+ text_scale_ = getParamWithDefault<double> (_server, prefix_ + "/text_scale", 0.5);
+ viz_scale_ = getParamWithDefault<double> (_server, prefix_ + "/viz_scale", 1);
+
+ // landmarks
+ landmark_text_z_offset_ = getParamWithDefault<double> (_server, prefix_ + "/landmark_text_z_offset", 1);
+ landmark_width_ = getParamWithDefault<double> (_server, prefix_ + "/landmark_width", 0.1);
+ landmark_length_ = getParamWithDefault<double> (_server, prefix_ + "/landmark_length", 1);
+
+ // frames
+ frame_width_ = getParamWithDefault<double> (_server, prefix_ + "/frame_width", 0.1);
+ frame_length_ = getParamWithDefault<double> (_server, prefix_ + "/frame_length", 1);
+ frame_vel_scale_ = getParamWithDefault<double> (_server, prefix_ + "/frame_vel_scale", 0.1);
+ color = getParamWithDefault<Eigen::Vector4d>(_server,
+ prefix_ + "/frame_vel_color",
+ (Eigen::Vector4d() << 0.5, 0, 1, 1).finished());
+ frame_vel_color_.r = color(0);
+ frame_vel_color_.g = color(1);
+ frame_vel_color_.b = color(2);
+ frame_vel_color_.a = color(3);
+
+ // factors
+ factors_width_ = getParamWithDefault<double> (_server, prefix_ + "/factors_width", 0.02);
+ factors_absolute_height_= getParamWithDefault<double> (_server, prefix_ + "/factors_absolute_height", 5);
+
+ color = getParamWithDefault<Eigen::Vector4d>(_server,
+ prefix_ + "/factor_abs_color",
+ (Eigen::Vector4d() << 1, 0, 0, 1).finished()); // red
+ factor_abs_color_.r = color(0);
+ factor_abs_color_.g = color(1);
+ factor_abs_color_.b = color(2);
+ factor_abs_color_.a = color(3);
+
+ color = getParamWithDefault<Eigen::Vector4d>(_server,
+ prefix_ + "/factor_motion_color",
+ (Eigen::Vector4d() << 1, 1, 0, 1).finished()); // yellow
+ factor_motion_color_.r = color(0);
+ factor_motion_color_.g = color(1);
+ factor_motion_color_.b = color(2);
+ factor_motion_color_.a = color(3);
+
+ color = getParamWithDefault<Eigen::Vector4d>(_server,
+ prefix_ + "/factor_loop_color",
+ (Eigen::Vector4d() << 0, 1, 0, 1).finished()); // green
+ factor_loop_color_.r = color(0);
+ factor_loop_color_.g = color(1);
+ factor_loop_color_.b = color(2);
+ factor_loop_color_.a = color(3);
+
+ color = getParamWithDefault<Eigen::Vector4d>(_server,
+ prefix_ + "/factor_lmk_color",
+ (Eigen::Vector4d() << 0, 1, 1, 1).finished()); // cyan
+ factor_lmk_color_.r = color(0);
+ factor_lmk_color_.g = color(1);
+ factor_lmk_color_.b = color(2);
+ factor_lmk_color_.a = color(3);
+
+ color = getParamWithDefault<Eigen::Vector4d>(_server,
+ prefix_ + "/factor_geom_color",
+ (Eigen::Vector4d() << 0, 0, 1, 1).finished()); // blue
+ factor_geom_color_.r = color(0);
+ factor_geom_color_.g = color(1);
+ factor_geom_color_.b = color(2);
+ factor_geom_color_.a = color(3);
+
+ color = getParamWithDefault<Eigen::Vector4d>(_server,
+ prefix_ + "/factor_other_color",
+ (Eigen::Vector4d() << 1, 1, 1, 1).finished()); // white
+ factor_other_color_.r = color(0);
+ factor_other_color_.g = color(1);
+ factor_other_color_.b = color(2);
+ factor_other_color_.a = color(3);
+
+ // INIT MARKERS ---------------------------------------------------
+ // factor markers message
+ factor_marker_.type = visualization_msgs::Marker::LINE_LIST;
+ factor_marker_.action = visualization_msgs::Marker::ADD;
+ factor_marker_.header.frame_id = map_frame_id_;
+ factor_marker_.ns = "factors";
+ factor_marker_.scale.x = viz_scale_*factors_width_;
+ factor_text_marker_ = factor_marker_;
+ factor_text_marker_.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
+ factor_text_marker_.ns = "factors_text";
+ factor_text_marker_.color.r = 1;
+ factor_text_marker_.color.g = 1;
+ factor_text_marker_.color.b = 1;
+ factor_text_marker_.color.a = 1;
+ factor_text_marker_.scale.x = viz_scale_*text_scale_;
+ factor_text_marker_.scale.y = viz_scale_*text_scale_;
+ factor_text_marker_.scale.z = viz_scale_*text_scale_;
+
+ // frame markers
+ frame_marker_.type = visualization_msgs::Marker::LINE_LIST;
+ frame_marker_.action = visualization_msgs::Marker::ADD;
+ frame_marker_.header.frame_id = map_frame_id_;
+ frame_marker_.ns = "frames";
+ frame_marker_.scale.x = viz_scale_*frame_width_;
+ frame_text_marker_ = frame_marker_;
+ frame_text_marker_.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
+ frame_text_marker_.ns = "frames_text";
+ frame_text_marker_.color.r = 1;
+ frame_text_marker_.color.g = 1;
+ frame_text_marker_.color.b = 1;
+ frame_text_marker_.color.a = 1;
+ frame_text_marker_.scale.x = viz_scale_*text_scale_;
+ frame_text_marker_.scale.y = viz_scale_*text_scale_;
+ frame_text_marker_.scale.z = viz_scale_*text_scale_;
+
+ frame_marker_.points.resize(6);
+ frame_marker_.points[0].x = 0;
+ frame_marker_.points[0].y = 0;
+ frame_marker_.points[0].z = 0;
+ frame_marker_.points[1].x = viz_scale_*frame_length_;
+ frame_marker_.points[1].y = 0;
+ frame_marker_.points[1].z = 0;
+ frame_marker_.points[2].x = 0;
+ frame_marker_.points[2].y = 0;
+ frame_marker_.points[2].z = 0;
+ frame_marker_.points[3].x = 0;
+ frame_marker_.points[3].y = viz_scale_*frame_length_;
+ frame_marker_.points[3].z = 0;
+ frame_marker_.points[4].x = 0;
+ frame_marker_.points[4].y = 0;
+ frame_marker_.points[4].z = 0;
+ frame_marker_.points[5].x = 0;
+ frame_marker_.points[5].y = 0;
+ frame_marker_.points[5].z = viz_scale_*frame_length_;
+
+ frame_marker_.colors.resize(6);
+ frame_marker_.colors[0].r = 1;
+ frame_marker_.colors[0].g = 0;
+ frame_marker_.colors[0].b = 0;
+ frame_marker_.colors[0].a = 1;
+ frame_marker_.colors[1].r = 1;
+ frame_marker_.colors[1].g = 0;
+ frame_marker_.colors[1].b = 0;
+ frame_marker_.colors[1].a = 1;
+ frame_marker_.colors[2].r = 0;
+ frame_marker_.colors[2].g = 1;
+ frame_marker_.colors[2].b = 0;
+ frame_marker_.colors[2].a = 1;
+ frame_marker_.colors[3].r = 0;
+ frame_marker_.colors[3].g = 1;
+ frame_marker_.colors[3].b = 0;
+ frame_marker_.colors[3].a = 1;
+ frame_marker_.colors[4].r = 0;
+ frame_marker_.colors[4].g = 0;
+ frame_marker_.colors[4].b = 1;
+ frame_marker_.colors[4].a = 1;
+ frame_marker_.colors[5].r = 0;
+ frame_marker_.colors[5].g = 0;
+ frame_marker_.colors[5].b = 1;
+ frame_marker_.colors[5].a = 1;
+
+ // velocity
+ if (_problem->getFrameStructure().find('V') != std::string::npos)
+ {
+ // zero vector
+ frame_marker_.points.push_back(frame_marker_.points.front());
+ frame_marker_.points.push_back(frame_marker_.points.front());
+ // vel color
+ frame_marker_.colors.push_back(frame_vel_color_);
+ frame_marker_.colors.push_back(frame_vel_color_);
+ }
+
+ // landmark markers
+ landmark_marker_.type = visualization_msgs::Marker::ARROW;
+ landmark_marker_.header.frame_id = map_frame_id_;
+ landmark_marker_.ns = "landmarks";
+ landmark_marker_.scale.x = viz_scale_*landmark_length_;
+ landmark_marker_.scale.y = viz_scale_*landmark_width_;
+ landmark_marker_.scale.z = viz_scale_*landmark_width_;
+ landmark_marker_.color.a = 0.5;
+ landmark_text_marker_ = landmark_marker_;
+ landmark_text_marker_.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
+ landmark_text_marker_.ns = "landmarks_text";
+ landmark_text_marker_.color.r = 1;
+ landmark_text_marker_.color.g = 1;
+ landmark_text_marker_.color.b = 1;
+ landmark_text_marker_.color.a = 1;
+ landmark_text_marker_.scale.z = viz_scale_*text_scale_;
+}
+
+void PublisherGraph::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ factors_publisher_ = nh.advertise<visualization_msgs::MarkerArray>(topic + "_factors", 1);
+ landmarks_publisher_ = nh.advertise<visualization_msgs::MarkerArray>(topic + "_landmarks", 1);
+ trajectory_publisher_ = nh.advertise<visualization_msgs::MarkerArray>(topic + "_trajectory", 1);
+}
+
+void PublisherGraph::publishDerived()
+{
+ if (factors_publisher_.getNumSubscribers() != 0)
+ publishFactors();
+ if (landmarks_publisher_.getNumSubscribers() != 0)
+ publishLandmarks();
+ if (trajectory_publisher_.getNumSubscribers() != 0)
+ publishTrajectory();
+}
+void PublisherGraph::publishLandmarks()
+{
+ // copy and update stamps of generic messages
+ auto landmark_marker = landmark_marker_;
+ auto landmark_text_marker = landmark_text_marker_;
+ landmark_marker.header.stamp = ros::Time::now();
+ landmark_marker.header.stamp = ros::Time::now();
+
+ // Iterate over all landmarks
+ int marker_i = 0;
+ auto landmark_list = problem_->getMap()->getLandmarkList();
+ for (auto lmk : landmark_list)
+ {
+ // Try to fill markers
+ if (not fillLandmarkMarkers(lmk,landmark_marker, landmark_text_marker))
+ continue;
+
+ // Store landmark marker in marker array
+ landmark_marker.id = marker_i;
+
+ if (landmarks_marker_array_.markers.size() < marker_i+1)
+ {
+ landmark_marker.action = visualization_msgs::Marker::ADD;
+ landmarks_marker_array_.markers.push_back(landmark_marker);
+ }
+ else
+ {
+ landmark_marker.action = visualization_msgs::Marker::MODIFY;
+ landmarks_marker_array_.markers[marker_i] = landmark_marker;
+ }
+ marker_i++;
+
+ // Store text landmark marker in marker array
+ landmark_text_marker.id = marker_i;
+
+ if (landmarks_marker_array_.markers.size() < marker_i+1)
+ {
+ landmark_text_marker.action = visualization_msgs::Marker::ADD;
+ landmarks_marker_array_.markers.push_back(landmark_text_marker);
+ }
+ else
+ {
+ landmark_text_marker.action = visualization_msgs::Marker::MODIFY;
+ landmarks_marker_array_.markers[marker_i] = landmark_text_marker;
+ }
+ marker_i++;
+ }
+
+ // rest of markers (if any) action: DELETE
+ for (auto i = marker_i; i < landmarks_marker_array_.markers.size(); i++)
+ landmarks_marker_array_.markers[i].action = visualization_msgs::Marker::DELETE;
+
+ // publish marker array
+ landmarks_publisher_.publish(landmarks_marker_array_);
+}
+
+
+void PublisherGraph::publishFactors()
+{
+ // copy and update stamps of generic messages
+ auto factor_marker = factor_marker_;
+ auto factor_text_marker = factor_text_marker_;
+ factor_marker.header.stamp = ros::Time::now();
+ factor_text_marker.header.stamp = ros::Time::now();
+
+ // delete all previous
+ factors_marker_array_.markers.clear();
+ factors_marker_array_.markers.push_back(factor_marker);
+ factors_marker_array_.markers.front().action = visualization_msgs::Marker::DELETEALL;
+
+ // Get a list of factors of the trajectory (discarded all prior factors for extrinsics/intrinsics..)
+ FactorBasePtrList fac_list;
+ problem_->getTrajectory()->getFactorList(fac_list);
+
+ // reset previously drawn factors
+ factors_drawn_.clear();
+
+ // Iterate over the list of factors
+ for (auto fac : fac_list)
+ {
+ // Try to fill marker
+ if (not fillFactorMarker(fac, factor_marker, factor_text_marker))
+ continue;
+
+ std::string fac_str = factorString(fac);
+
+ // markers id
+ factor_marker.id = fac->id();
+ factor_text_marker.id = fac->id();
+
+ // Store marker text in marker array
+ factors_marker_array_.markers.push_back(factor_text_marker);
+
+ // avoid drawing overlapped factors markers
+ if (not viz_overlapped_factors_)
+ {
+ if (factors_drawn_.count(fac_str) == 0)
+ {
+ factors_marker_array_.markers.push_back(factor_marker);
+ factors_drawn_.emplace(fac_str);
+ }
+ }
+ else
+ factors_marker_array_.markers.push_back(factor_marker);
+ }
+
+ // publish marker array
+ factors_publisher_.publish(factors_marker_array_);
+}
+
+void PublisherGraph::publishTrajectory()
+{
+ // copy and update stamps of generic messages
+ auto frame_marker = frame_marker_;
+ auto frame_text_marker = frame_text_marker_;
+ frame_marker.header.stamp = ros::Time::now();
+ frame_text_marker.header.stamp = ros::Time::now();
+
+ // Iterate over the key frames
+ int marker_i = 0;
+ auto trajectory = *problem_->getTrajectory();
+ for (auto frm : trajectory)
+ {
+ // Try to fill marker
+ if (not fillFrameMarker(frm, frame_marker, frame_text_marker))
+ continue;
+
+ // Store marker in marker array
+ frame_marker.id = marker_i;
+
+ if (trajectory_marker_array_.markers.size() < marker_i+1)
+ {
+ frame_marker.action = visualization_msgs::Marker::ADD;
+ trajectory_marker_array_.markers.push_back(frame_marker);
+ }
+ else
+ {
+ frame_marker.action = visualization_msgs::Marker::MODIFY;
+ trajectory_marker_array_.markers[marker_i] = frame_marker;
+ }
+ marker_i++;
+
+ // Store text marker in marker array
+ frame_text_marker.id = marker_i;
+
+ if (trajectory_marker_array_.markers.size() < marker_i + 1) {
+ frame_text_marker.action = visualization_msgs::Marker::ADD;
+ trajectory_marker_array_.markers.push_back(frame_text_marker);
+ } else {
+ frame_text_marker.action = visualization_msgs::Marker::MODIFY;
+ trajectory_marker_array_.markers[marker_i] = frame_text_marker;
+ }
+ marker_i++;
+ }
+
+ // rest of markers (if any) action: DELETE
+ for (auto i = marker_i; i < trajectory_marker_array_.markers.size(); i++)
+ trajectory_marker_array_.markers[i].action = visualization_msgs::Marker::DELETE;
+
+ // publish marker array
+ trajectory_publisher_.publish(trajectory_marker_array_);
+}
+
+bool PublisherGraph::fillLandmarkMarkers(LandmarkBaseConstPtr lmk,
+ visualization_msgs::Marker& lmk_marker,
+ visualization_msgs::Marker& lmk_text_marker)
+{
+ // check is not removing
+ if (not lmk or lmk->isRemoving() or not lmk->getP())
+ return false;
+
+ // SHAPE ------------------------------------------------------
+ // Position
+ // 2d: CYLINDER
+ // 3d: SPHERE
+ // Pose -> ARROW
+ if (lmk->getO() != nullptr)
+ {
+ landmark_marker_.type = visualization_msgs::Marker::ARROW;
+ lmk_marker.scale.x = viz_scale_*landmark_length_;
+ lmk_marker.scale.y = viz_scale_*landmark_width_;
+ lmk_marker.scale.z = viz_scale_*landmark_width_;
+ }
+ else if (lmk->getP()->getSize() == 2)
+ {
+ landmark_marker_.type = visualization_msgs::Marker::CYLINDER;
+ lmk_marker.scale.x = viz_scale_*landmark_width_;
+ lmk_marker.scale.y = viz_scale_*landmark_width_;
+ lmk_marker.scale.z = viz_scale_*landmark_length_;
+ }
+ else
+ {
+ landmark_marker_.type = visualization_msgs::Marker::SPHERE;
+ lmk_marker.scale.x = viz_scale_*landmark_width_;
+ lmk_marker.scale.y = viz_scale_*landmark_width_;
+ lmk_marker.scale.z = viz_scale_*landmark_width_;
+ }
+
+ // COLOR ------------------------------------------------------
+ if (lmk->getHits() > landmark_max_hits_)
+ landmark_max_hits_ = lmk->getHits();
+ lmk_marker.color.r = (double)lmk->getHits()/landmark_max_hits_;
+ lmk_marker.color.g = 0;
+ lmk_marker.color.b = 1 - (double)lmk->getHits()/landmark_max_hits_;
+
+ // POSITION & ORIENTATION ------------------------------------------------------
+ // position
+ lmk_marker.pose.position.x = lmk->getP()->getState()(0);
+ lmk_marker.pose.position.y = lmk->getP()->getState()(1);
+ if (lmk->getP()->getSize() > 2)
+ lmk_marker.pose.position.z = lmk->getP()->getState()(2);
+
+ // orientation
+ if (lmk->getO() != nullptr)
+ {
+ // 3d
+ if (lmk->getO()->getSize() > 1)
+ {
+ lmk_marker.pose.orientation.x = lmk->getO()->getState()(0);
+ lmk_marker.pose.orientation.y = lmk->getO()->getState()(1);
+ lmk_marker.pose.orientation.z = lmk->getO()->getState()(2);
+ lmk_marker.pose.orientation.w = lmk->getO()->getState()(3);
+ }
+ // 2d
+ else
+ lmk_marker.pose.orientation = tf::createQuaternionMsgFromYaw(lmk->getO()->getState()(0));
+ }
+
+ // TEXT MARKER ------------------------------------------------------
+ lmk_text_marker.text = std::to_string(lmk->id());
+ lmk_text_marker.pose.position.x = lmk_marker.pose.position.x;
+ lmk_text_marker.pose.position.y = lmk_marker.pose.position.y;
+ lmk_text_marker.pose.position.z = lmk_marker.pose.position.z + viz_scale_*landmark_text_z_offset_;
+
+ return true;
+}
+
+bool PublisherGraph::fillFactorMarker(FactorBaseConstPtr fac,
+ visualization_msgs::Marker &fac_marker,
+ visualization_msgs::Marker &fac_text_marker)
+{
+ // check is not removing
+ if (not fac or fac->isRemoving())
+ return false;
+
+ if (not viz_inactive_factors_ and fac->getStatus() == FAC_INACTIVE)
+ return false;
+
+ geometry_msgs::Point point1, point2;
+
+ // point1 -> frame ------------------------------------------------------
+ if (not fac->getCapture() or
+ not fac->getCapture()->getFrame() or
+ not fac->getCapture()->getFrame()->getP())
+ return false;
+
+ point1.x = fac->getCapture()->getFrame()->getP()->getState()(0);
+ point1.y = fac->getCapture()->getFrame()->getP()->getState()(1);
+ if (fac->getProblem()->getDim() == 3)
+ point1.z = fac->getCapture()->getFrame()->getP()->getState()(2);
+ else
+ point1.z = 0;
+
+ // point2 -> other ------------------------------------------------------
+ // FRAME
+ if (fac->getFrameOther() != nullptr)
+ {
+ // special case: Motion from ProcessorMotion
+ auto proc_motion = std::dynamic_pointer_cast<ProcessorMotion>(fac->getProcessor());
+ if (proc_motion and fac->getCaptureOther())
+ {
+ // Get state of other
+ const auto& x_other = fac->getFrameOther()->getState(proc_motion->getStateStructure());
+
+ // Get most recent motion
+ const auto& cap_own = std::static_pointer_cast<CaptureMotion>(fac->getFeature()->getCapture());
+ const auto& motion = cap_own->getBuffer().back();
+
+ // Get delta preintegrated up to now
+ const auto& delta_preint = motion.delta_integr_;
+
+ // Get calibration preint -- stored in last capture
+ const auto& calib_preint = cap_own->getCalibrationPreint();
+
+ VectorComposite state_integrated;
+ if ( proc_motion->hasCalibration())
+ {
+ // Get current calibration -- from other capture
+ const auto& calib = proc_motion->getCalibration(fac->getCaptureOther());
+
+ // get Jacobian of delta wrt calibration
+ const auto& J_delta_calib = motion.jacobian_calib_;
+
+ // compute delta change
+ const auto& delta_step = J_delta_calib * (calib - calib_preint);
+
+ // correct delta // this is (+)
+ const auto& delta_corrected = proc_motion->correctDelta(delta_preint, delta_step);
+
+ // compute current state // this is [+]
+ proc_motion->statePlusDelta(x_other, delta_corrected, cap_own->getTimeStamp() - fac->getCaptureOther()->getTimeStamp(), state_integrated);
+
+ }
+ else
+ {
+ proc_motion->statePlusDelta(x_other, delta_preint, cap_own->getTimeStamp() - fac->getCaptureOther()->getTimeStamp(), state_integrated);
+ }
+
+ // FILL POINTS
+ // 1=origin (other)
+ point1.x = fac->getFrameOther()->getP()->getState()(0);
+ point1.y = fac->getFrameOther()->getP()->getState()(1);
+ if (fac->getProblem()->getDim() == 3)
+ point1.z = fac->getFrameOther()->getP()->getState()(2);
+ else
+ point1.z = 0;
+ // 2=own
+ point2.x = state_integrated.at('P')(0);
+ point2.y = state_integrated.at('P')(1);
+ if (fac->getProblem()->getDim() == 3)
+ point2.z = state_integrated.at('P')(2);
+ else
+ point2.z = 0;
+ }
+ // Normal frame-frame factor
+ else
+ {
+ if (fac->getFrameOther()->isRemoving() or
+ not fac->getFrameOther() or
+ not fac->getFrameOther()->getP())
+ return false;
+
+ point2.x = fac->getFrameOther()->getP()->getState()(0);
+ point2.y = fac->getFrameOther()->getP()->getState()(1);
+ if (fac->getProblem()->getDim() == 3)
+ point2.z = fac->getFrameOther()->getP()->getState()(2);
+ else
+ point2.z = 0;
+ }
+ }
+ // CAPTURE
+ else if (fac->getCaptureOther() != nullptr)
+ {
+ if (fac->getCaptureOther()->isRemoving() or
+ not fac->getCaptureOther()->getFrame() or
+ not fac->getCaptureOther()->getFrame()->getP())
+ return false;
+
+ point2.x = fac->getCaptureOther()->getFrame()->getP()->getState()(0);
+ point2.y = fac->getCaptureOther()->getFrame()->getP()->getState()(1);
+ if (fac->getProblem()->getDim() == 3)
+ point2.z = fac->getCaptureOther()->getFrame()->getP()->getState()(2);
+ else
+ point2.z = 0;
+ }
+ // FEATURE
+ else if (fac->getFeatureOther() != nullptr)
+ {
+ if (fac->getFeatureOther()->isRemoving() or
+ not fac->getFeatureOther()->getCapture() or
+ not fac->getFeatureOther()->getCapture()->getFrame() or
+ not fac->getFeatureOther()->getCapture()->getFrame()->getP())
+ return false;
+
+ point2.x = fac->getFeatureOther()->getCapture()->getFrame()->getP()->getState()(0);
+ point2.y = fac->getFeatureOther()->getCapture()->getFrame()->getP()->getState()(1);
+ if (fac->getProblem()->getDim() == 3)
+ point2.z = fac->getFeatureOther()->getCapture()->getFrame()->getP()->getState()(2);
+ else
+ point2.z = 0;
+ }
+ // LANDMARK
+ else if (fac->getLandmarkOther() != nullptr)
+ {
+ if (fac->getLandmarkOther()->isRemoving() or
+ not fac->getLandmarkOther()->getP())
+ return false;
+
+ point2.x = fac->getLandmarkOther()->getP()->getState()(0);
+ point2.y = fac->getLandmarkOther()->getP()->getState()(1);
+ if (fac->getProblem()->getDim() == 3)
+ point2.z = fac->getLandmarkOther()->getP()->getState()(2);
+ else
+ point2.z = 0;
+ }
+ // ABSOLUTE
+ else {
+ point2 = point1;
+ point2.z = point1.z + viz_scale_ * factors_absolute_height_;
+ }
+
+ // store points ------------------------------------------------------
+ fac_marker.points.push_back(point1);
+ fac_marker.points.push_back(point2);
+
+ // initialize quaternion to avoid RVIZ warning
+ fac_marker.pose.orientation.w = 1.0;
+ fac_marker.pose.orientation.x = 0.0;
+ fac_marker.pose.orientation.y = 0.0;
+ fac_marker.pose.orientation.z = 0.0;
+
+ // colors ------------------------------------------------------
+ auto color = factor_abs_color_;
+ if (fac->getTopology() == TOP_ABS)
+ color = factor_abs_color_;
+ if (fac->getTopology() == TOP_MOTION)
+ color = factor_motion_color_;
+ if (fac->getTopology() == TOP_LOOP)
+ color = factor_loop_color_;
+ if (fac->getTopology() == TOP_LMK)
+ color = factor_lmk_color_;
+ if (fac->getTopology() == TOP_GEOM)
+ color = factor_geom_color_;
+ if (fac->getTopology() == TOP_OTHER)
+ color = factor_other_color_;
+
+ // more transparent if inactive
+ if (fac->getStatus() == FAC_INACTIVE)
+ color.a *= 0.5;
+
+ fac_marker.colors.push_back(color);
+ fac_marker.colors.push_back(color);// 2 times because of 2 points
+ fac_marker.ns = std::string("factors_"+(fac->getProcessor() ? fac->getProcessor()->getName() : "unnamed_processor"));
+
+ // TEXT MARKER --------------------------------------------------------
+ fac_text_marker.text = std::to_string(fac->id());
+ fac_text_marker.pose.position.x = (point1.x + point2.x)/(double) 2;
+ fac_text_marker.pose.position.y = (point1.y + point2.y)/(double) 2;
+ fac_text_marker.pose.position.z = (point1.z + point2.z)/(double) 2;
+ fac_text_marker.ns = std::string("factors_text_"+(fac->getProcessor() ? fac->getProcessor()->getName() : "unnamed_processor"));
+
+ return true;
+}
+
+bool PublisherGraph::fillFrameMarker(FrameBaseConstPtr frm,
+ visualization_msgs::Marker &frm_marker,
+ visualization_msgs::Marker &frm_text_marker)
+{
+ // check is not removing
+ if (not frm or frm->isRemoving() or not frm->getP())
+ return false;
+
+ // POSITION & ORIENTATION
+ // ------------------------------------------------------ position
+ frm_marker.pose.position.x = frm->getP()->getState()(0);
+ frm_marker.pose.position.y = frm->getP()->getState()(1);
+ if (frm->getP()->getSize() > 2)
+ frm_marker.pose.position.z = frm->getP()->getState()(2);
+ else
+ frm_marker.pose.position.z = 0;
+
+ // orientation
+ if (frm->getO() != nullptr) {
+ // 3d
+ if (frm->getO()->getSize() > 1) {
+ frm_marker.pose.orientation.x = frm->getO()->getState()(0);
+ frm_marker.pose.orientation.y = frm->getO()->getState()(1);
+ frm_marker.pose.orientation.z = frm->getO()->getState()(2);
+ frm_marker.pose.orientation.w = frm->getO()->getState()(3);
+ }
+ // 2d
+ else
+ frm_marker.pose.orientation =
+ tf::createQuaternionMsgFromYaw(frm->getO()->getState()(0));
+ }
+ else
+ frm_marker.pose.orientation = tf::createQuaternionMsgFromYaw(0);
+
+ // velocity
+ if (frm->getV())
+ {
+ Eigen::Vector3d v_local(Eigen::Vector3d::Zero());
+ if (frm->getO() != nullptr)
+ {
+ // 3d
+ if (frm->getO()->getSize() > 1)
+ {
+ v_local = Eigen::Quaterniond(Eigen::Vector4d(frm->getO()->getState())).conjugate() * frm->getV()->getState();
+ }
+ // 2d
+ else
+ {
+ v_local.head<2>() = Eigen::Rotation2Dd(-frm->getO()->getState()(0)) * frm->getV()->getState();
+ }
+ }
+
+ // change last point (2nd of velocity pair)
+ frm_marker.points.back().x = v_local(0) * frame_vel_scale_;
+ frm_marker.points.back().y = v_local(1) * frame_vel_scale_;
+ frm_marker.points.back().z = v_local(2) * frame_vel_scale_;
+ }
+
+ // TEXT MARKER --------------------------------------------------------
+ frm_text_marker.text = std::to_string(frm->id());
+ frm_text_marker.pose.position.x = frm_marker.pose.position.x;
+ frm_text_marker.pose.position.y = frm_marker.pose.position.y;
+ frm_text_marker.pose.position.z = frm_marker.pose.position.z + viz_scale_*landmark_text_z_offset_;
+
+ return true;
+}
+
+std::string PublisherGraph::factorString(FactorBaseConstPtr fac) const
+{
+ std::string factor_string;
+
+ if (not fac or not fac->getCapture() or not fac->getCapture()->getFrame())
+ return "invalid factor" + std::to_string(fac->id());
+
+ factor_string = "F" + std::to_string(fac->getCapture()->getFrame()->id());
+
+ // FRAME
+ if (fac->getFrameOther() != nullptr)
+ factor_string += "_F" + std::to_string(fac->getFrameOther()->id());
+ // CAPTURE (with Frame)
+ else if (fac->getCaptureOther() != nullptr &&
+ fac->getCaptureOther()->getFrame() != nullptr)
+ factor_string += "_C" + std::to_string(fac->getCaptureOther()->id());
+ // FEATURE (with Frame)
+ else if (fac->getFeatureOther() != nullptr &&
+ fac->getFeatureOther()->getCapture() != nullptr &&
+ fac->getFeatureOther()->getCapture()->getFrame() != nullptr)
+ factor_string += "_f" + std::to_string(fac->getFeatureOther()->id());
+ // LANDMARK
+ else if (fac->getLandmarkOther() != nullptr)
+ factor_string += "_L" + std::to_string(fac->getLandmarkOther()->id());
+ // ABSOLUTE (nothing
+
+ // Topology
+ factor_string += "_T" + fac->getTopology();
+
+ // Processor
+ factor_string += "_P" + (fac->getProcessor() ? std::to_string(fac->getProcessor()->id()) : "NO");
+
+ return factor_string;
+}
+
+}
diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d1ba47180c2800e2b9c71e958b51ea59ad53677a
--- /dev/null
+++ b/src/publisher_pose.cpp
@@ -0,0 +1,266 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "publisher_pose.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include "tf/transform_datatypes.h"
+#include "tf_conversions/tf_eigen.h"
+
+namespace wolf
+{
+
+PublisherPose::PublisherPose(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem) :
+ Publisher(_unique_name, _server, _problem)
+{
+ Eigen::Vector4d marker_color_v;
+ marker_color_v = getParamWithDefault<Eigen::Vector4d>(_server,
+ prefix_ + "/marker_color",
+ (Eigen::Vector4d() << 1, 0, 0, 1).finished()); // red
+ marker_color_.r = marker_color_v(0);
+ marker_color_.g = marker_color_v(1);
+ marker_color_.b = marker_color_v(2);
+ marker_color_.a = marker_color_v(3);
+
+ max_points_ = getParamWithDefault<int>(_server,
+ prefix_ + "/max_points",
+ 1e4);
+ line_size_ = getParamWithDefault<double>(_server,
+ prefix_ + "/line_size",
+ 0.1);
+
+ extrinsics_ = _server.getParam<bool>(prefix_ + "/extrinsics");
+ if (extrinsics_)
+ sensor_ = _problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor"));
+ frame_id_ = _server.getParam<std::string>(prefix_ + "/frame_id");
+}
+
+void PublisherPose::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ std::string map_frame_id;
+ nh.param<std::string>("map_frame_id", map_frame_id_, "map");
+
+ // initialize msg and publisher
+
+ // POSE ARRAY
+ pose_array_msg_.header.frame_id = frame_id_;
+
+ pub_pose_array_ = nh.advertise<geometry_msgs::PoseArray>(topic + "_pose_array", 1);
+
+ // MARKER
+ marker_msg_.header.frame_id = frame_id_;
+ marker_msg_.type = visualization_msgs::Marker::LINE_STRIP;
+ marker_msg_.action = visualization_msgs::Marker::ADD;
+ marker_msg_.ns = "trajectory";
+ marker_msg_.scale.x = line_size_;
+ marker_msg_.color = marker_color_;
+ marker_msg_.pose.orientation = tf::createQuaternionMsgFromYaw(0);
+
+ pub_marker_ = nh.advertise<visualization_msgs::Marker>(topic + "_marker", 1);
+
+ // POSE WITH COV
+ pose_with_cov_msg_.header.frame_id = frame_id_;
+
+ pub_pose_with_cov_ = nh.advertise<geometry_msgs::PoseWithCovarianceStamped>(topic + "_pose_with_cov", 1);
+}
+
+void PublisherPose::publishDerived()
+{
+ if (pub_pose_array_.getNumSubscribers() == 0 and
+ pub_marker_.getNumSubscribers() == 0 and
+ pub_pose_with_cov_.getNumSubscribers() == 0 )
+ return;
+
+ VectorComposite current_state = problem_->getState("PO");
+ TimeStamp loc_ts = problem_->getTimeStamp();
+
+ // state not ready
+ if (current_state.count('P') == 0 or
+ current_state.count('O') == 0 or
+ not loc_ts.ok())
+ {
+ return;
+ }
+
+ // fill vector and quaternion
+ Eigen::Vector3d p = Eigen::Vector3d::Zero();
+ Eigen::Quaterniond q;
+
+ // 2D
+ if (problem_->getDim() == 2)
+ {
+ if (extrinsics_)
+ {
+ p.head(2) = current_state['P'] + Eigen::Rotation2Dd(current_state['O'](0)) * sensor_->getP()->getState().head(2);
+ if (sensor_->getO())
+ q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0) + sensor_->getO()->getState()(0),
+ Eigen::Vector3d::UnitZ()));
+ else
+ q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0),
+ Eigen::Vector3d::UnitZ()));
+ }
+ else
+ {
+ p.head(2) = current_state['P'];
+ q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0), Eigen::Vector3d::UnitZ()));
+ }
+ }
+ // 3D
+ else
+ {
+ if (extrinsics_)
+ {
+ p = current_state['P'] + Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])) * sensor_->getP()->getState();
+ if (sensor_->getO())
+ q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])) * Eigen::Quaterniond(Eigen::Vector4d(sensor_->getO()->getState()));
+ else
+ q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O']));
+ }
+ else
+ {
+ p = current_state['P'];
+ q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O']));
+ }
+ }
+
+ // Change frame
+ if (frame_id_ != map_frame_id_ and listenTf())
+ {
+ p = t_frame_ + q_frame_ * p;
+ q = q_frame_ * q;
+ }
+
+ // Covariance
+ Eigen::MatrixXd cov(6,6);
+ auto KF = problem_->getLastFrame();
+ bool success(true);
+ success = success && problem_->getCovarianceBlock(KF->getP(), KF->getP(), cov, 0, 0);
+ success = success && problem_->getCovarianceBlock(KF->getP(), KF->getO(), cov, 0, 3);
+ success = success && problem_->getCovarianceBlock(KF->getO(), KF->getP(), cov, 3, 0);
+ success = success && problem_->getCovarianceBlock(KF->getO(), KF->getO(), cov, 3, 3);
+
+ if (success)
+ {
+ if (problem_->getDim() == 2)
+ throw std::runtime_error("not implemented");
+ else
+ std::copy(cov.data(), cov.data() + cov.size(), pose_with_cov_msg_.pose.covariance.data());
+ }
+ else
+ {
+ //WOLF_WARN("Last KF covariance could not be recovered, using the previous one");
+ //pose_with_cov_msg_.pose.covariance[0] = -1; // not valid
+ }
+
+ // Fill Pose msg
+ pose_with_cov_msg_.header.stamp = ros::Time(loc_ts.getSeconds(), loc_ts.getNanoSeconds());
+ pose_with_cov_msg_.pose.pose.position.x = p(0);
+ pose_with_cov_msg_.pose.pose.position.y = p(1);
+ pose_with_cov_msg_.pose.pose.position.z = p(2);
+
+ pose_with_cov_msg_.pose.pose.orientation.x = q.x();
+ pose_with_cov_msg_.pose.pose.orientation.y = q.y();
+ pose_with_cov_msg_.pose.pose.orientation.z = q.z();
+ pose_with_cov_msg_.pose.pose.orientation.w = q.w();
+ publishPose();
+}
+
+void PublisherPose::publishPose()
+{
+ // fill msgs and publish
+ if (pub_pose_array_.getNumSubscribers() != 0)
+ {
+ pose_array_msg_.header.stamp = pose_with_cov_msg_.header.stamp;
+
+ if (max_points_ >= 0 and pose_array_msg_.poses.size() >= max_points_)
+ {
+ int i = 1;
+ while (i < pose_array_msg_.poses.size())
+ {
+ pose_array_msg_.poses.erase(pose_array_msg_.poses.begin()+i);
+ i++;
+ }
+ //pose_array_msg_.poses.erase(pose_array_msg_.poses.begin(),
+ // pose_array_msg_.poses.begin() + max_points_/2);
+ }
+
+ pose_array_msg_.poses.push_back(pose_with_cov_msg_.pose.pose);
+
+ pub_pose_array_.publish(pose_array_msg_);
+ }
+ if (pub_marker_.getNumSubscribers() != 0)
+ {
+ marker_msg_.header.stamp = pose_with_cov_msg_.header.stamp;
+
+ if (max_points_ >= 0 and marker_msg_.points.size() >= max_points_)
+ {
+ auto it = marker_msg_.points.begin();
+ std::advance(it,1);
+ while (it != marker_msg_.points.end())
+ {
+ it = marker_msg_.points.erase(it);
+ if (it == marker_msg_.points.end())
+ break;
+ std::advance(it,1);
+ }
+ //int i = 1;
+ //while (i < marker_msg_.points.size())
+ //{
+ // marker_msg_.points.erase(marker_msg_.points.begin()+i);
+ // i++;
+ //}
+ //marker_msg_.points.erase(marker_msg_.points.begin(),
+ // marker_msg_.points.begin() + max_points_/2);
+ }
+
+ marker_msg_.points.push_back(pose_with_cov_msg_.pose.pose.position);
+
+ pub_marker_.publish(marker_msg_);
+ }
+ if (pub_pose_with_cov_.getNumSubscribers() != 0)
+ {
+ pub_pose_with_cov_.publish(pose_with_cov_msg_);
+ }
+}
+
+bool PublisherPose::listenTf()
+{
+ tf::StampedTransform T;
+ if ( tfl_.waitForTransform(frame_id_, map_frame_id_, ros::Time(0), ros::Duration(0.01)) )
+ {
+ tfl_.lookupTransform(frame_id_, map_frame_id_, ros::Time(0), T);
+
+ Eigen::Matrix3d R;
+ tf::matrixTFToEigen(T.getBasis(), R);
+ tf::vectorTFToEigen(T.getOrigin(), t_frame_);
+ q_frame_ = Eigen::Quaterniond(R);
+
+ return true;
+ }
+ return false;
+}
+
+}
diff --git a/src/publisher_state_block.cpp b/src/publisher_state_block.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1bf55b37f64b17e89bfe149f0d36f53694412382
--- /dev/null
+++ b/src/publisher_state_block.cpp
@@ -0,0 +1,67 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "publisher_state_block.h"
+
+namespace wolf
+{
+
+PublisherStateBlock::PublisherStateBlock(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem) :
+ Publisher(_unique_name, _server, _problem),
+ msg_init_(false)
+{
+ sensor_ = _problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor"));
+ assert(sensor_);
+ key_ = _server.getParam<char>(prefix_ + "/key");
+}
+
+void PublisherStateBlock::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ publisher_ = nh.advertise<std_msgs::Float64MultiArray>(topic, 1);
+}
+
+void PublisherStateBlock::publishDerived()
+{
+ WOLF_WARN_COND(not sensor_->getStateBlock(key_), "StateBlock not found")
+ if(not sensor_->getStateBlock(key_))
+ return;
+ Eigen::VectorXd state_vec = sensor_->getStateBlock(key_)->getState();
+ if(not msg_init_)
+ {
+ std_msgs::MultiArrayDimension dim;
+ dim.label = sensor_->getName()+"/"+std::to_string(key_);
+ dim.size = state_vec.size();
+ dim.stride = state_vec.size();
+ state_msg_.layout.dim.push_back(dim);
+ state_msg_.layout.data_offset = 0;
+ state_msg_.data.resize(state_vec.size());
+ msg_init_ = true;
+ }
+ Eigen::Map<Eigen::VectorXd> msg_map(state_msg_.data.data(), state_vec.size());
+ msg_map = state_vec;
+
+ publisher_.publish(state_msg_);
+
+}
+
+}
diff --git a/src/publisher_tf.cpp b/src/publisher_tf.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..08117d5f6f2a91cfdc9a292f99969f5718300ff6
--- /dev/null
+++ b/src/publisher_tf.cpp
@@ -0,0 +1,167 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "publisher_tf.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include "tf/transform_datatypes.h"
+#include "tf_conversions/tf_eigen.h"
+
+namespace wolf
+{
+
+PublisherTf::PublisherTf(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem) :
+ Publisher(_unique_name, _server, _problem),
+ state_available_(true)
+{
+ map_frame_id_ = _server.getParam<std::string>(prefix_ + "/map_frame_id");
+ odom_frame_id_ = _server.getParam<std::string>(prefix_ + "/odom_frame_id");
+ base_frame_id_ = _server.getParam<std::string>(prefix_ + "/base_frame_id");
+ publish_odom_tf_ = _server.getParam<bool>(prefix_ + "/publish_odom_tf");
+
+ // initialize TF transforms
+ T_odom2base_.setIdentity();
+ T_odom2base_.frame_id_ = odom_frame_id_;
+ T_odom2base_.child_frame_id_ = base_frame_id_;
+ T_odom2base_.stamp_ = ros::Time::now();
+ //T_map2odom_.setIdentity();
+ //T_map2odom_.frame_id_ = map_frame_id_;
+ //T_map2odom_.child_frame_id_ = odom_frame_id_;
+ //T_map2odom_.stamp_ = ros::Time::now();
+ Tmsg_map2odom_.child_frame_id = odom_frame_id_;
+ Tmsg_map2odom_.header.frame_id = map_frame_id_;
+ Tmsg_map2odom_.header.stamp = ros::Time::now();
+}
+
+void PublisherTf::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+}
+
+void PublisherTf::publishDerived()
+{
+ // TF: ODOM - BASE
+ ros::Time tf_odom_stamp;
+ std::string error_msg;
+ bool tf_odom_available = tfl_.getLatestCommonTime(odom_frame_id_,
+ base_frame_id_,
+ tf_odom_stamp,
+ &error_msg) == tf::ErrorValues::NO_ERROR;
+ // WARNING: someone else is publishing tf odom-base
+ if (publish_odom_tf_ and tf_odom_available and tf_odom_stamp != T_odom2base_.stamp_)
+ {
+ ROS_WARN("PublisherTf: option 'publish_odom_tf' enabled but a transform between %s and %s was found published by a third party. Changing 'publish_odom_tf' to false.",
+ base_frame_id_.c_str(),
+ odom_frame_id_.c_str());
+
+ publish_odom_tf_=false;
+ }
+
+ // WOLF: MAP - BASE
+ // get current state and stamp
+ auto current_state = problem_->getState("PO");
+ auto current_ts = problem_->getTimeStamp();
+ ros::Time wolf_stamp(current_ts.getSeconds(), current_ts.getNanoSeconds());
+
+ //Get map2base from wolf result, and builds base2map pose
+ tf::Transform T_map2base;
+ if (current_state.count('P') == 0 or
+ current_state.count('O') == 0 or
+ not current_ts.ok())
+ {
+ if (state_available_)
+ {
+ ROS_WARN("PublisherTf: State not available...");
+ state_available_ = false; // warning won't be displayed again
+ }
+ T_map2base.setIdentity();
+ }
+ else
+ {
+ if (not state_available_)
+ {
+ ROS_INFO("PublisherTf: State available!");
+ state_available_ = true; // warning won't be displayed again
+ }
+ T_map2base = stateToTfTransform(current_state, problem_->getDim());
+ }
+
+ // MAP - ODOM
+ // Wolf odometry
+ if (publish_odom_tf_)
+ {
+ VectorComposite odom = problem_->getOdometry("PO");
+
+ T_odom2base_.setData(stateToTfTransform(odom, problem_->getDim()));
+ T_odom2base_.stamp_ = ros::Time::now();
+ tfb_.sendTransform(T_odom2base_);
+ }
+ // TF odometry
+ else
+ {
+ if (not tf_odom_available)
+ {
+ ROS_WARN("No %s to %s frame received. Assuming identity. If this transformation is not broadcasted, consider enabling parameter 'PublisherTf/publish_odom_tf'",
+ base_frame_id_.c_str(),
+ odom_frame_id_.c_str());
+ T_odom2base_.setIdentity();
+ T_odom2base_.stamp_ = ros::Time::now();
+ }
+ try
+ {
+ tfl_.lookupTransform(odom_frame_id_,
+ base_frame_id_,
+ (tf_odom_stamp >= wolf_stamp ? wolf_stamp : tf_odom_stamp),
+ T_odom2base_);
+ }
+ catch(...)
+ {
+ ROS_WARN("Unexpected error listening TF. No %s to %s frame received. Assuming identity.",
+ base_frame_id_.c_str(),
+ odom_frame_id_.c_str());
+ T_odom2base_.setIdentity();
+ T_odom2base_.stamp_ = ros::Time::now();
+ }
+ }
+
+
+ // Broadcast transform ---------------------------------------------------------------------------
+ tf::Transform T_map2odom = T_map2base * T_odom2base_.inverse();
+
+ Tmsg_map2odom_.transform.translation.x = T_map2odom.getOrigin().getX();
+ Tmsg_map2odom_.transform.translation.y = T_map2odom.getOrigin().getY();
+ Tmsg_map2odom_.transform.translation.z = T_map2odom.getOrigin().getZ();
+
+ Tmsg_map2odom_.transform.rotation.x = T_map2odom.getRotation().getX();
+ Tmsg_map2odom_.transform.rotation.y = T_map2odom.getRotation().getY();
+ Tmsg_map2odom_.transform.rotation.z = T_map2odom.getRotation().getZ();
+ Tmsg_map2odom_.transform.rotation.w = T_map2odom.getRotation().getW();
+
+ Tmsg_map2odom_.header.stamp = ros::Time::now();
+
+ stfb_.sendTransform(Tmsg_map2odom_);
+}
+
+}
diff --git a/src/publisher_trajectory.cpp b/src/publisher_trajectory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6fa357685b30859115a70d7bbb1c213402e27e1e
--- /dev/null
+++ b/src/publisher_trajectory.cpp
@@ -0,0 +1,109 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+/*
+ * publisher_trajectory.cpp
+ *
+ * Created on: Feb 03, 2022
+ * Author: igeer
+ */
+
+#include "publisher_trajectory.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+
+namespace wolf
+{
+
+PublisherTrajectory::PublisherTrajectory(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem) :
+ Publisher(_unique_name, _server, _problem)
+{
+ frame_id_ = _server.getParam<std::string>(prefix_ + "/frame_id");
+}
+
+void PublisherTrajectory::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ nh.param<std::string>("frame_id", frame_id_, "map");
+
+ // initialize msg and publisher
+
+ // PATH
+ path_msg_.header.frame_id = frame_id_;
+ publisher_ = nh.advertise<nav_msgs::Path>(topic, 1);
+}
+
+void PublisherTrajectory::publishDerived()
+{
+ if (publisher_.getNumSubscribers() != 0 )
+ publishTrajectory();
+}
+
+void PublisherTrajectory::publishTrajectory()
+{
+ path_msg_.header.stamp = ros::Time::now();
+
+ auto trajectory = problem_->getTrajectory();
+ int frame_num = 0;
+
+ //Fill path message with PoseStamped from trajectory
+ geometry_msgs::PoseStamped framepose;
+ Eigen::Vector3d p = Eigen::Vector3d::Zero();
+ Eigen::Quaterniond q;
+
+ for (auto frm: trajectory->getFrameMap())
+ {
+ auto loc_ts = frm.first;
+ framepose.header.frame_id = frame_id_;
+ framepose.header.stamp = ros::Time(loc_ts.getSeconds(), loc_ts.getNanoSeconds());
+ if (problem_->getDim() == 2)
+ {
+ p.head(2) = frm.second->getP()->getState();
+ q = Eigen::Quaterniond(Eigen::AngleAxisd(frm.second->getO()->getState()(0), Eigen::Vector3d::UnitZ()));
+ }
+ else
+ {
+ p = frm.second->getP()->getState();
+ q = Eigen::Quaterniond(Eigen::Vector4d(frm.second->getO()->getState()));
+
+ }
+ framepose.pose.position.x = p(0);
+ framepose.pose.position.y = p(1);
+ framepose.pose.position.z = p(2);
+ framepose.pose.orientation.x = q.x();
+ framepose.pose.orientation.y = q.y();
+ framepose.pose.orientation.z = q.z();
+ framepose.pose.orientation.w = q.w();
+ path_msg_.poses.push_back(framepose);
+ }
+
+ //Publish path
+ publisher_.publish(path_msg_);
+
+ //clear msg
+ path_msg_.poses.clear();
+}
+
+}
diff --git a/src/subscriber_diffdrive.cpp b/src/subscriber_diffdrive.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a7578d05ebd5220c5daf773283e8d943b4b9f065
--- /dev/null
+++ b/src/subscriber_diffdrive.cpp
@@ -0,0 +1,91 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+/**************************
+ * WOLF includes *
+ **************************/
+#include <core/capture/capture_diff_drive.h>
+#include <core/sensor/sensor_diff_drive.h>
+
+#include "core/math/rotations.h"
+#include "subscriber_diffdrive.h"
+
+namespace wolf
+{
+SubscriberDiffdrive::SubscriberDiffdrive(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr)
+: Subscriber(_unique_name, _server, _sensor_ptr)
+, last_odom_stamp_(ros::Time(0))
+, last_odom_seq_(-1)
+{
+ last_angles_ = Eigen::Vector2d();
+ ticks_cov_factor_ = std::static_pointer_cast<SensorDiffDrive>(_sensor_ptr)->getParams()->ticks_cov_factor;
+}
+
+void SubscriberDiffdrive::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ sub_ = nh.subscribe(topic, 100, &SubscriberDiffdrive::callback, this);
+}
+
+void SubscriberDiffdrive::callback(const sensor_msgs::JointState::ConstPtr& msg)
+{
+ updateLastHeader(msg->header);
+
+ auto left_angle = msg->position[0];
+ auto right_angle = msg->position[1];
+ auto msg_angles = Eigen::Vector2d(left_angle, right_angle);
+ double ticks_per_revolution = 360;
+
+ Eigen::Vector2d angles_inc (pi2pi(msg_angles(0) - last_angles_(0)), pi2pi(msg_angles(1) - last_angles_(1)));
+ angles_inc *= ticks_per_revolution/(2*M_PI);
+
+ Eigen::MatrixXd cov = ticks_cov_factor_ * (angles_inc.cwiseAbs() + Eigen::Vector2d::Ones()).asDiagonal(); // TODO check this
+
+ if (last_odom_seq_ != -1)
+ {
+ CaptureDiffDrivePtr cptr = std::make_shared<CaptureDiffDrive>(
+ TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec), sensor_ptr_, angles_inc, cov, nullptr);
+ sensor_ptr_->process(cptr);
+
+ auto current_kf = sensor_ptr_->getProblem()->getLastFrame()->id();
+
+ if(last_kf != current_kf)
+ {
+ // sensor_ptr_->getProblem()->print(4,0,1,1);
+
+ // std::cout << "\n===========================================" << std::endl;
+ // auto const capture_origin = std::static_pointer_cast<CaptureMotion>(sensor_ptr_->getProblem()->getProcessorMotion()->getOrigin());
+ // // auto const capture_last = std::static_pointer_cast<CaptureMotion>(std::static_pointer_cast<ProcessorDiffDrive>(sensor_ptr_->getProblem()->getProcessorMotion())->getLast());
+ // // capture_origin->getBuffer().print(1,1,1,1);
+ // std::cout << "===========================================\n" << std::endl;
+
+ last_kf = current_kf;
+ }
+
+ }
+
+ last_angles_ = msg_angles;
+ last_odom_stamp_ = msg->header.stamp;
+ last_odom_seq_ = msg->header.seq;
+}
+
+} // namespace wolf
diff --git a/src/subscriber_odom2d.cpp b/src/subscriber_odom2d.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2438e41d73e4d3558c0b4955e69354015a18b122
--- /dev/null
+++ b/src/subscriber_odom2d.cpp
@@ -0,0 +1,84 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+/**************************
+ * WOLF includes *
+ **************************/
+#include <core/capture/capture_odom_2d.h>
+#include <core/sensor/sensor_odom_2d.h>
+#include <core/processor/processor_odom_2d.h>
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+
+/**************************
+ * STD includes *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+#include "subscriber.h"
+#include "subscriber_odom2d.h"
+
+namespace wolf
+{
+SubscriberOdom2d::SubscriberOdom2d(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr)
+ : Subscriber(_unique_name, _server, _sensor_ptr)
+ , last_odom_stamp_(ros::Time(0))
+ , sensor_odom_(std::static_pointer_cast<SensorOdom2d>(_sensor_ptr))
+{
+ assert(std::dynamic_pointer_cast<SensorOdom2d>(_sensor_ptr) != nullptr && "SubscriberOdom2d: sensor provided is not of type SensorOdom2d!");
+}
+
+void SubscriberOdom2d::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ sub_ = nh.subscribe(topic, 100, &SubscriberOdom2d::callback, this);
+}
+
+void SubscriberOdom2d::callback(const nav_msgs::Odometry::ConstPtr& msg)
+{
+ ROS_DEBUG("WolfNodePolyline::odomCallback");
+
+ updateLastHeader(msg->header);
+
+ if (last_odom_stamp_ != ros::Time(0))
+ {
+ double dt = (msg->header.stamp - last_odom_stamp_).toSec();
+ Eigen::Vector2d data(msg->twist.twist.linear.x * dt, msg->twist.twist.angular.z * dt);
+ CaptureOdom2dPtr new_capture = std::make_shared<CaptureOdom2d>(
+ TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
+ sensor_ptr_,
+ data,
+ sensor_odom_->computeCovFromMotion(data));
+ sensor_ptr_->process(new_capture);
+ }
+ last_odom_stamp_ = msg->header.stamp;
+
+ ROS_DEBUG("WolfNodePolyline::odomCallback: end");
+}
+
+} // namespace wolf
diff --git a/src/wolf_ros_node.cpp b/src/wolf_ros_node.cpp
deleted file mode 100644
index d6d88c2a7fe04d8d80bd36e0ff48314259e32bc5..0000000000000000000000000000000000000000
--- a/src/wolf_ros_node.cpp
+++ /dev/null
@@ -1,172 +0,0 @@
-#include "wolf_ros_node.h"
-#include "ros/time.h"
-#include "tf/transform_datatypes.h"
-#include <fstream>
-#include <iostream>
-#include <string>
-
-WolfRosNode::WolfRosNode() : nh_(ros::this_node::getName()) {
- // string file = "params_demo_quim.yaml";
- string file, plugin, subscriber;
- nh_.param<std::string>("yaml_file_path", file, ros::package::getPath("wolf_demo")+"/yaml/params_demo.yaml");
- nh_.param<std::string>("plugins_path", plugin, "/usr/local/lib/iri-algorithms/");
- nh_.param<std::string>("subscribers_path", subscriber, ros::package::getPath("wolf_demo") + "/../../devel/lib/");
-
- // WOLF_INFO("PATH ", file);
- // ParserYAML parser = ParserYAML(file, "/home/jvallve/code/iri_ws/src/wolf_demo/yaml");
- // ParserYAML parser = ParserYAML(file, "/home/jcasals/catkin_ws/src/wolf_demo/yaml");
- ParserYAML parser = ParserYAML(file);
- parser.parse();
- ParamsServer server = ParamsServer(parser.getParams(), parser.sensorsSerialization(), parser.processorsSerialization());
- server.print();
- server.addParam("plugins_path", plugin);
- server.addParam("subscribers_path", subscriber);
- problem_ptr_ = Problem::autoSetup(server);
- ceres::Solver::Options ceres_options;
- ceres_manager_ptr_ = std::make_shared<CeresManager>(problem_ptr_, ceres_options);
-
- for (auto it : parser.getCallbacks()) {
- string subscriber = it[0];
- string topic = it[1];
- string sensor = it[2];
- WOLF_TRACE("From sensor {" + sensor + "} subscribing {" + subscriber + "} to {" + topic + "} topic")
- auto wrapper = SubscriberFactory::get().create(subscriber, topic, server, problem_ptr_->getSensor(sensor));
- subscribers_.push_back(wrapper);
- subscribers_.back()->initSubscriber(nh_, topic);
- }
-
- // TODO: factory for wolf_viz
- wolf_viz_ = std::make_shared<WolfRosVisualizer>();
- wolf_viz_->initialize(nh_);
-
- nh_.param<std::string>( "map_frame_id", map_frame_id_, "map");
- nh_.param<std::string>( "odom_frame_id", odom_frame_id_, "odom");
- nh_.param<std::string>( "base_frame_id", base_frame_id_, "base_footprint");
-
- broadcastTf();
-}
-
-void WolfRosNode::solve()
-{
- ROS_INFO("================ solve ==================");
- std::string report = ceres_manager_ptr_->solve(SolverManager::ReportVerbosity::FULL);
- std::cout << report << std::endl;
-}
-
-void WolfRosNode::visualize()
-{
- ROS_INFO("================ visualize ==================");
- wolf_viz_->visualize(problem_ptr_);
-}
-
-void WolfRosNode::updateTf()
-{
- ROS_INFO("================updateTf==================");
-
- // get current vehicle pose
- ros::Time loc_stamp;
- TimeStamp loc_ts;
- Eigen::VectorXd current_pose;
- problem_ptr_->getCurrentStateAndStamp(current_pose, loc_ts);
-
-// loc_stamp.nsec = loc_ts.getNanoSeconds();
-// loc_stamp.sec = loc_ts.getSeconds();
- loc_stamp = ros::Time::now();
-
- //Get map2base from Wolf result, and builds base2map pose
- tf::Transform T_map2base(tf::createQuaternionFromYaw((double) current_pose(2)),
- tf::Vector3((double) current_pose(0), (double) current_pose(1), 0) );
- //T_map2base.setOrigin( tf::Vector3((double) current_pose(0), (double) current_pose(1), 0) );
- //T_map2base.setRotation( tf::createQuaternionFromYaw((double) current_pose(2)) );
-
- std::cout << "Current pose: " << current_pose.transpose() << std::endl;
-
- //gets T_map2odom_ (odom wrt map), by using tf listener, and assuming an odometry node is broadcasting odom2base
- tf::StampedTransform T_base2odom;
- if ( tfl_.waitForTransform(base_frame_id_, odom_frame_id_, loc_stamp, ros::Duration(0.2)) )
- {
- tfl_.lookupTransform(base_frame_id_, odom_frame_id_, loc_stamp, T_base2odom);
- std::cout << "Odometry: " << T_base2odom.inverse().getOrigin().getX() << " " << T_base2odom.inverse().getOrigin().getY() << " " << T_base2odom.inverse().getRotation().getAngle() << std::endl;
- }
- else
- {
- ROS_WARN("No odom to base frame received");
- T_base2odom.setIdentity();
- T_base2odom.frame_id_ = base_frame_id_;
- T_base2odom.child_frame_id_ = odom_frame_id_;
- T_base2odom.stamp_ = loc_stamp;
- }
-
- // Broadcast transform ---------------------------------------------------------------------------
- // tf::StampedTransform T_map2odom(T_map2base * T_base2odom, loc_stamp, map_frame_id_, odom_frame_id_);
- this->T_map2odom = tf::StampedTransform(T_map2base * T_base2odom, loc_stamp, map_frame_id_, odom_frame_id_);
- this->T_map2odom = tf::Transform(T_map2base * T_base2odom);
- std::cout << "T_map2odom: " << T_map2odom.getOrigin().getX() << " " << T_map2odom.getOrigin().getY() << " " << T_map2odom.getRotation().getAngle() << std::endl;
- //T_map2odom.setData(T_map2base * T_base2odom);
- //T_map2odom.stamp_ = loc_stamp;
-}
-void WolfRosNode::broadcastTf()
-{
- auto current_map2odom = tf::StampedTransform(this->T_map2odom, ros::Time::now(), map_frame_id_, odom_frame_id_);
- tfb_.sendTransform(current_map2odom);
-}
-
-int main(int argc, char **argv) {
- std::cout << "\n=========== WOLF ROS WRAPPER MAIN ===========\n\n";
-
- // Init ROS
- ros::init(argc, argv, ros::this_node::getName());
- // Wolf node
- WolfRosNode wolf_node;
- int visualize_interval;
- wolf_node.nh_.param<int>("visualize_interval", visualize_interval, 1);
- ros::Rate r(1);
-
- ros::Rate loopRate(20);
- int n_iterations_solve(10);
- int iteration(0);
- ros::Time last_time = ros::Time(0);
- int last_id = -1;
- std::ofstream file;
- // file.open("/home/jcasals/wolf_debug.out");
-
- while (ros::ok()) {
- // solve every n iterations
- // if (iteration++ >= n_iterations_solve)
- int current = wolf_node.problem_ptr_->getLastKeyFrame()->id();
- if (current != last_id)
- {
- // file.open("/home/jcasals/random/debug/wolf_debug" + std::to_string(current) + "-" + std::to_string(last_id) + "-before.out");
- // file << "ROSTIME " << ros::Time::now();
- // file << wolf_node.problem_ptr_->printToString();
- // file.close();
-
- // solve
- wolf_node.solve();
-
- // file.open("/home/jcasals/random/debug/wolf_debug" + std::to_string(current) + "-" + std::to_string(last_id) + "-after.out");
- // file << "ROSTIME " << ros::Time::now();
- // file << wolf_node.problem_ptr_->printToString();
- // file.close();
- // update tf
- wolf_node.updateTf();
- last_id = current;
- }
- // broadcast tf
- wolf_node.broadcastTf();
- // visualize
- auto t = ros::Time::now() - last_time;
- if (t.toSec() >= visualize_interval) {
- last_time = ros::Time::now();
- wolf_node.visualize();
- // iteration = 1;
- }
- // execute pending callbacks
- ros::spinOnce();
-
- // relax to fit output rate
- loopRate.sleep();
- }
- // file.close();
- return 0;
-}
diff --git a/src/wolf_ros_subscriber_odom2D.cpp b/src/wolf_ros_subscriber_odom2D.cpp
deleted file mode 100644
index fb1374d2d8b9cadc944af6715c25d7ca52cbd67b..0000000000000000000000000000000000000000
--- a/src/wolf_ros_subscriber_odom2D.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************
- * WOLF includes *
- **************************/
-#include <core/capture/capture_odom_2D.h>
-#include <core/sensor/sensor_odom_2D.h>
-#include <core/processor/processor_odom_2D.h>
-#include <core/yaml/parser_yaml.hpp>
-#include <core/common/wolf.h>
-#include <core/problem/problem.h>
-#include <core/utils/params_server.hpp>
-
-/**************************
- * CERES includes *
- **************************/
-#include <core/ceres_wrapper/ceres_manager.h>
-//#include "glog/logging.h"
-
-/**************************
- * ROS includes *
- **************************/
-#include <ros/ros.h>
-#include <nav_msgs/Odometry.h>
-
-/**************************
- * STD includes *
- **************************/
-#include <iostream>
-#include <iomanip>
-#include <queue>
-
-#include "wolf_ros_subscriber.h"
-
-using namespace wolf;
-
-class WolfSubscriberWrapperOdom2D : public WolfSubscriberWrapper
-{
- protected:
- ros::Time last_odom_stamp_;
- double odometry_translational_cov_factor_, odometry_rotational_cov_factor_;
-
- public:
-
- WolfSubscriberWrapperOdom2D(const SensorBasePtr& sensor_ptr) :
- WolfSubscriberWrapper(sensor_ptr),
- last_odom_stamp_(ros::Time(0)),
- odometry_translational_cov_factor_(std::static_pointer_cast<SensorOdom2D>(sensor_ptr)->getDispVarToDispNoiseFactor()),
- odometry_rotational_cov_factor_(std::static_pointer_cast<SensorOdom2D>(sensor_ptr)->getRotVarToRotNoiseFactor())
- {
- }
-
- virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic)
- {
- sub_ = nh.subscribe(topic,100,&WolfSubscriberWrapperOdom2D::callback,this);
- }
-
- void callback(const nav_msgs::Odometry::ConstPtr& msg)
- {
- ROS_DEBUG("WolfNodePolyline::odomCallback");
- ROS_INFO("WolfNodePolyline::odomCallback: start");
-
- if (last_odom_stamp_ != ros::Time(0))
- {
- Scalar dt = (msg->header.stamp - last_odom_stamp_).toSec();
- CaptureOdom2DPtr new_capture = std::make_shared<CaptureOdom2D>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
- sensor_ptr_,
- Eigen::Vector2s(msg->twist.twist.linear.x*dt,
- msg->twist.twist.angular.z*dt),
- Eigen::DiagonalMatrix<Scalar,2>(msg->twist.twist.linear.x*dt*(Scalar)odometry_translational_cov_factor_,
- msg->twist.twist.angular.z*dt*(Scalar)odometry_rotational_cov_factor_));
- sensor_ptr_->process(new_capture);
- }
- last_odom_stamp_ = msg->header.stamp;
-
- ROS_INFO("WolfNodePolyline::odomCallback: end");
- ROS_DEBUG("WolfNodePolyline::odomCallback: end");
- }
-
- static std::shared_ptr<WolfSubscriberWrapper> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
- {
- return std::make_shared<WolfSubscriberWrapperOdom2D>(_sensor_ptr);
- }
-};
-#include "subscriber_factory.h"
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberWrapperOdom2D)
\ No newline at end of file
diff --git a/src/wolf_ros_subscriber_other.cpp b/src/wolf_ros_subscriber_other.cpp
deleted file mode 100644
index 17b1a5db9e8c9a616b41f05084b110ccf70d0a49..0000000000000000000000000000000000000000
--- a/src/wolf_ros_subscriber_other.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************
- * WOLF includes *
- **************************/
-#include <core/capture/capture_odom_2D.h>
-#include <core/sensor/sensor_odom_2D.h>
-#include <core/processor/processor_odom_2D.h>
-#include <core/yaml/parser_yaml.hpp>
-#include <core/common/wolf.h>
-#include <core/problem/problem.h>
-#include <core/utils/params_server.hpp>
-
-/**************************
- * CERES includes *
- **************************/
-#include <core/ceres_wrapper/ceres_manager.h>
-//#include "glog/logging.h"
-
-/**************************
- * ROS includes *
- **************************/
-#include <ros/ros.h>
-#include <nav_msgs/Odometry.h>
-
-/**************************
- * STD includes *
- **************************/
-#include <iostream>
-#include <iomanip>
-#include <queue>
-
-#include "wolf_ros_subscriber.h"
-
-using namespace wolf;
-
-class WolfSubscriberWrapperOther: public WolfSubscriberWrapper
-{
- protected:
- ros::Time last_odom_stamp_;
- double odometry_translational_cov_factor_, odometry_rotational_cov_factor_;
-
- public:
-
- WolfSubscriberWrapperOther(const SensorBasePtr& sensor_ptr) :
- WolfSubscriberWrapper(sensor_ptr),
- last_odom_stamp_(ros::Time(0)),
- odometry_translational_cov_factor_(std::static_pointer_cast<SensorOdom2D>(sensor_ptr)->getDispVarToDispNoiseFactor()),
- odometry_rotational_cov_factor_(std::static_pointer_cast<SensorOdom2D>(sensor_ptr)->getRotVarToRotNoiseFactor())
- {
- }
-
- virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic)
- {
- sub_ = nh.subscribe(topic,100,&WolfSubscriberWrapperOther::callback,this);
- }
-
- void callback(const nav_msgs::Odometry::ConstPtr& msg)
- {
- ROS_DEBUG("WolfNodePolyline::odomCallback");
- ROS_INFO("Other callback: start");
-
- if (last_odom_stamp_ != ros::Time(0))
- {
- Scalar dt = (msg->header.stamp - last_odom_stamp_).toSec();
- CaptureOdom2DPtr new_capture = std::make_shared<CaptureOdom2D>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
- sensor_ptr_,
- Eigen::Vector2s(msg->twist.twist.linear.x*dt,
- msg->twist.twist.angular.z*dt),
- Eigen::DiagonalMatrix<Scalar,2>(msg->twist.twist.linear.x*dt*(Scalar)odometry_translational_cov_factor_,
- msg->twist.twist.angular.z*dt*(Scalar)odometry_rotational_cov_factor_));
- sensor_ptr_->process(new_capture);
- }
- last_odom_stamp_ = msg->header.stamp;
-
- ROS_INFO("Other callback: end");
- ROS_DEBUG("WolfNodePolyline::odomCallback: end");
- }
-
- static std::shared_ptr<WolfSubscriberWrapper> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
- {
- return std::make_shared<WolfSubscriberWrapperOther>(_sensor_ptr);
- }
-};
-#include "subscriber_factory.h"
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberWrapperOther)
\ No newline at end of file
diff --git a/src/wolf_ros_visualizer.cpp b/src/wolf_ros_visualizer.cpp
deleted file mode 100644
index ba5781f833829be0f63c0519dea3b96b4cfb8aaa..0000000000000000000000000000000000000000
--- a/src/wolf_ros_visualizer.cpp
+++ /dev/null
@@ -1,409 +0,0 @@
-#include "wolf_ros_visualizer.h"
-
-
-WolfRosVisualizer::WolfRosVisualizer() :
- landmark_max_hits_(10),
- last_markers_publish_(0)
-{
-}
-
-
-void WolfRosVisualizer::initialize(ros::NodeHandle& nh)
-{
- // init publishers ---------------------------------------------------
- factors_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("factors", 1);
- landmarks_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("landmarks", 1);
- trajectory_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("trajectory", 1);
-
- // Load options ---------------------------------------------------
- nh.param<bool>( "viz_factors", viz_factors_, true);
- nh.param<bool>( "viz_landmarks", viz_landmarks_, true);
- nh.param<bool>( "viz_trajectory", viz_trajectory_, true);
- // viz parameters
- nh.param<std::string>( "map_frame_name", map_frame_id_, "map");
- nh.param<double>( "factors_width", factors_width_, 0.02);
- nh.param<double>( "landmark_text_z_offset", landmark_text_z_offset_, 1);
- nh.param<double>( "landmark_length", landmark_length_, 1);
- nh.param<double>( "frame_width", frame_width_, 0.1);
- nh.param<double>( "frame_length", frame_length_, 1);
- // colors: active yellow, inactive gray
- double col_R, col_G, col_B, col_A;
- nh.param<double>( "color_active_r", col_R, 1.0);
- nh.param<double>( "color_active_g", col_G, 0.8);
- nh.param<double>( "color_active_b", col_B, 0.0);
- nh.param<double>( "color_active_a", col_A, 0.5);
- color_active_.r = col_R;
- color_active_.g = col_G;
- color_active_.b = col_B;
- color_active_.a = col_A;
- nh.param<double>( "color_inactive_r", col_R, 0.5);
- nh.param<double>( "color_inactive_g", col_G, 0.5);
- nh.param<double>( "color_inactive_b", col_B, 0.5);
- nh.param<double>( "color_inactive_a", col_A, 0.5);
- color_inactive_.r = col_R;
- color_inactive_.g = col_G;
- color_inactive_.b = col_B;
- color_inactive_.a = col_A;
-
- // init markers ---------------------------------------------------
- // factor markers message
- factor_marker_.type = visualization_msgs::Marker::LINE_LIST;
- factor_marker_.header.frame_id = map_frame_id_;
- factor_marker_.ns = "/factors";
- factor_marker_.scale.x = factors_width_;
-
- // frame markers
- frame_marker_.type = visualization_msgs::Marker::ARROW;
- frame_marker_.header.frame_id = map_frame_id_;
- frame_marker_.ns = "/frames";
- frame_marker_.scale.x = frame_length_;
- frame_marker_.scale.y = frame_width_;
- frame_marker_.scale.z = frame_width_;
- frame_marker_.color = color_active_;
-
- // landmark markers
- landmark_marker_.type = visualization_msgs::Marker::ARROW;
- landmark_marker_.header.frame_id = map_frame_id_;
- landmark_marker_.ns = "/landmarks";
- landmark_marker_.scale.x = landmark_length_;
- landmark_marker_.scale.y = landmark_width_;
- landmark_marker_.scale.z = landmark_width_;
- landmark_marker_.color.a = 0.5;
- landmark_text_marker_ = landmark_marker_;
- landmark_text_marker_.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
- landmark_text_marker_.ns = "/landmarks_text";
- landmark_text_marker_.color.r = 1;
- landmark_text_marker_.color.g = 1;
- landmark_text_marker_.color.b = 1;
- landmark_text_marker_.color.a = 0.5;
- landmark_text_marker_.scale.z = 3;
-}
-
-void WolfRosVisualizer::visualize(const ProblemPtr problem)
-{
- if (viz_factors_)
- publishFactors(problem);
- if (viz_landmarks_)
- publishLandmarks(problem);
- if (viz_trajectory_)
- publishTrajectory(problem);
-}
-
-void WolfRosVisualizer::publishLandmarks(const ProblemPtr problem)
-{
- // Iterate over all landmarks
- int marker_i = 0;
- auto landmark_marker = landmark_marker_;
- auto landmark_text_marker = landmark_text_marker_;
- for (auto lmk : problem->getMap()->getLandmarkList())
- {
- // fill markers
- fillLandmarkMarkers(lmk,landmark_marker, landmark_text_marker);
-
- // Store landmark marker in marker array
- landmark_marker.id = marker_i;
- landmark_marker.header.stamp = ros::Time::now();
-
- if (landmarks_marker_array_.markers.size() < marker_i+1)
- {
- landmark_marker.action = visualization_msgs::Marker::ADD;
- landmarks_marker_array_.markers.push_back(landmark_marker);
- }
- else
- {
- landmark_marker.action = visualization_msgs::Marker::MODIFY;
- landmarks_marker_array_.markers[marker_i] = landmark_marker;
- }
- marker_i++;
-
- // Store text landmark marker in marker array
- landmark_text_marker.id = marker_i;
- landmark_text_marker.header.stamp = ros::Time::now();
-
- if (landmarks_marker_array_.markers.size() < marker_i+1)
- {
- landmark_text_marker.action = visualization_msgs::Marker::ADD;
- landmarks_marker_array_.markers.push_back(landmark_text_marker);
- }
- else
- {
- landmark_text_marker.action = visualization_msgs::Marker::MODIFY;
- landmarks_marker_array_.markers[marker_i] = landmark_text_marker;
- }
- marker_i++;
- }
-
- // rest of markers (if any) action: DELETE
- for (auto i = marker_i; i < landmarks_marker_array_.markers.size(); i++)
- landmarks_marker_array_.markers[i].action = visualization_msgs::Marker::DELETE;
-
- // publish marker array
- landmarks_publisher_.publish(landmarks_marker_array_);
-}
-
-
-void WolfRosVisualizer::publishFactors(const ProblemPtr problem)
-{
- // Get a list of factors of the trajectory (discarded all prior factors for extrinsics/intrinsics..)
- FactorBasePtrList fac_list;
- problem->getTrajectory()->getFactorList(fac_list);
-
- // Iterate over the list of factors
- int marker_i = 0;
- auto factor_marker = factor_marker_;
- for (auto fac : fac_list)
- {
- // fill marker
- fillFactorMarker(fac, factor_marker);
-
- // Store marker in marker array
- factor_marker.id = marker_i;
- factor_marker.header.stamp = ros::Time::now();
-
- if (factors_marker_array_.markers.size() < marker_i+1)
- {
- factor_marker.action = visualization_msgs::Marker::ADD;
- factors_marker_array_.markers.push_back(factor_marker);
- }
- else
- {
- factor_marker.action = visualization_msgs::Marker::MODIFY;
- factors_marker_array_.markers[marker_i] = factor_marker;
- }
- marker_i++;
- }
-
- // rest of markers (if any) action: DELETE
- for (auto i = marker_i; i < factors_marker_array_.markers.size(); i++)
- factors_marker_array_.markers[i].action = visualization_msgs::Marker::DELETE;
-
- // publish marker array
- factors_publisher_.publish(factors_marker_array_);
-}
-
-void WolfRosVisualizer::publishTrajectory(const ProblemPtr problem)
-{
- // Iterate over the key frames
- int marker_i = 0;
- auto frame_marker = frame_marker_;
- for (auto frm : problem->getTrajectory()->getFrameList())
- if (frm->isKey())
- {
- // fill marker
- fillFrameMarker(frm, frame_marker);
-
- // Store marker in marker array
- frame_marker.id = marker_i;
- frame_marker.header.stamp = ros::Time::now();
-
- if (trajectory_marker_array_.markers.size() < marker_i+1)
- {
- frame_marker.action = visualization_msgs::Marker::ADD;
- trajectory_marker_array_.markers.push_back(frame_marker);
- }
- else
- {
- frame_marker.action = visualization_msgs::Marker::MODIFY;
- trajectory_marker_array_.markers[marker_i] = frame_marker;
- }
- marker_i++;
- }
-
- // rest of markers (if any) action: DELETE
- for (auto i = marker_i; i < trajectory_marker_array_.markers.size(); i++)
- trajectory_marker_array_.markers[i].action = visualization_msgs::Marker::DELETE;
-
- // publish marker array
- trajectory_publisher_.publish(trajectory_marker_array_);
-}
-
-void WolfRosVisualizer::fillLandmarkMarkers(LandmarkBaseConstPtr lmk,
- visualization_msgs::Marker& lmk_marker,
- visualization_msgs::Marker& lmk_text_marker)
-{
- // SHAPE ------------------------------------------------------
- // Position
- // 2D: CYLINDER
- // 3D: SPHERE
- // Pose -> ARROW
- if (lmk->getO() != nullptr)
- {
- landmark_marker_.type = visualization_msgs::Marker::ARROW;
- lmk_marker.scale.x = landmark_length_;
- lmk_marker.scale.y = landmark_width_;
- lmk_marker.scale.z = landmark_width_;
- }
- else if (lmk->getP()->getSize() == 2)
- {
- landmark_marker_.type = visualization_msgs::Marker::CYLINDER;
- lmk_marker.scale.x = landmark_width_;
- lmk_marker.scale.y = landmark_width_;
- lmk_marker.scale.z = landmark_length_;
- }
- else
- {
- landmark_marker_.type = visualization_msgs::Marker::SPHERE;
- lmk_marker.scale.x = landmark_width_;
- lmk_marker.scale.y = landmark_width_;
- lmk_marker.scale.z = landmark_width_;
- }
-
- // COLOR ------------------------------------------------------
- if (lmk->getHits() > landmark_max_hits_)
- landmark_max_hits_ = lmk->getHits();
- lmk_marker.color.r = (double)lmk->getHits()/landmark_max_hits_;
- lmk_marker.color.g = 0;
- lmk_marker.color.b = 1 - (double)lmk->getHits()/landmark_max_hits_;
- lmk_marker.color.a = 0.5;
-
- // POSITION & ORIENTATION ------------------------------------------------------
- // position
- lmk_marker.pose.position.x = lmk->getP()->getState()(0);
- lmk_marker.pose.position.y = lmk->getP()->getState()(1);
- if (lmk->getP()->getSize() > 2)
- lmk_marker.pose.position.z = lmk->getP()->getState()(2);
-
- // orientation
- if (lmk->getO() != nullptr)
- {
- // 3D
- if (lmk->getO()->getSize() > 1)
- {
- lmk_marker.pose.orientation.w = lmk->getO()->getState()(0);
- lmk_marker.pose.orientation.x = lmk->getO()->getState()(1);
- lmk_marker.pose.orientation.y = lmk->getO()->getState()(2);
- lmk_marker.pose.orientation.z = lmk->getO()->getState()(3);
- }
- // 2D
- else
- lmk_marker.pose.orientation = tf::createQuaternionMsgFromYaw(lmk->getO()->getState()(0));
- }
-
- // TEXT MARKER ------------------------------------------------------
- lmk_text_marker.text = std::to_string(lmk->id());
- lmk_text_marker.pose.position.x = lmk_marker.pose.position.x;
- lmk_text_marker.pose.position.y = lmk_marker.pose.position.y;
- lmk_text_marker.pose.position.z = lmk_marker.pose.position.z + landmark_text_z_offset_;
-}
-
-void WolfRosVisualizer::fillFactorMarker(FactorBaseConstPtr fac,
- visualization_msgs::Marker& fac_marker)
-{
- geometry_msgs::Point point1, point2;
-
- // point1 -> frame ------------------------------------------------------
- point1.x = fac->getCapture()->getFrame()->getP()->getState()(0);
- point1.y = fac->getCapture()->getFrame()->getP()->getState()(1);
- if (fac->getCapture()->getFrame()->getP()->getSize() > 2)
- point1.z = fac->getCapture()->getFrame()->getP()->getState()(2);
- else
- point1.z = 0;
-
- // point2 -> other ------------------------------------------------------
- // FRAME
- if (fac->getFrameOther() != nullptr)
- {
- point2.x = fac->getFrameOther()->getP()->getState()(0);
- point2.y = fac->getFrameOther()->getP()->getState()(1);
- if (fac->getFrameOther()->getP()->getSize() > 2)
- point2.z = fac->getFrameOther()->getP()->getState()(2);
- else
- point2.z = 0;
- }
- // CAPTURE (with Frame)
- else if (fac->getCaptureOther() != nullptr &&
- fac->getCaptureOther()->getFrame() != nullptr)
- {
- point2.x = fac->getCaptureOther()->getFrame()->getP()->getState()(0);
- point2.y = fac->getCaptureOther()->getFrame()->getP()->getState()(1);
- if (fac->getCaptureOther()->getFrame()->getP()->getSize() > 2)
- point2.z = fac->getCaptureOther()->getFrame()->getP()->getState()(2);
- else
- point2.z = 0;
- }
- // FEATURE (with Frame)
- else if (fac->getFeatureOther() != nullptr &&
- fac->getFeatureOther()->getCapture() != nullptr &&
- fac->getFeatureOther()->getCapture()->getFrame() != nullptr)
- {
- point2.x = fac->getFeatureOther()->getCapture()->getFrame()->getP()->getState()(0);
- point2.y = fac->getFeatureOther()->getCapture()->getFrame()->getP()->getState()(1);
- if (fac->getFeatureOther()->getCapture()->getFrame()->getP()->getSize() > 2)
- point2.z = fac->getFeatureOther()->getCapture()->getFrame()->getP()->getState()(2);
- else
- point2.z = 0;
- }
- // LANDMARK
- else if (fac->getLandmarkOther() != nullptr)
- {
- point2.x = fac->getLandmarkOther()->getP()->getState()(0);
- point2.y = fac->getLandmarkOther()->getP()->getState()(1);
- if (fac->getLandmarkOther()->getP()->getSize() > 2)
- point2.z = fac->getLandmarkOther()->getP()->getState()(2);
- else
- point2.z = 0;
- }
- // ABSOLUTE
- else
- {
- point2 = point1;
- point2.z = 20;
- }
-
- // store points ------------------------------------------------------
- fac_marker.points.push_back(point1);
- fac_marker.points.push_back(point2);
-
- // colors ------------------------------------------------------
- auto color = (fac->getStatus() == FAC_ACTIVE ? color_active_ : color_inactive_);
- fac_marker.colors.push_back(color);
- fac_marker.colors.push_back(color);
-}
-
-
-void WolfRosVisualizer::fillFrameMarker(FrameBaseConstPtr frm,
- visualization_msgs::Marker& frm_marker)
-{
- // SHAPE ------------------------------------------------------
- // Position-> SPHERE
- // Pose -> ARROW
- if (frm->getO() != nullptr)
- {
- landmark_marker_.type = visualization_msgs::Marker::ARROW;
- frm_marker.scale.x = frame_length_;
- frm_marker.scale.y = frame_width_;
- frm_marker.scale.z = frame_width_;
- }
- else
- {
- landmark_marker_.type = visualization_msgs::Marker::SPHERE;
- frm_marker.scale.x = frame_width_;
- frm_marker.scale.y = frame_width_;
- frm_marker.scale.z = frame_width_;
- }
-
- // POSITION & ORIENTATION ------------------------------------------------------
- // position
- frm_marker.pose.position.x = frm->getP()->getState()(0);
- frm_marker.pose.position.y = frm->getP()->getState()(1);
- if (frm->getP()->getSize() > 2)
- frm_marker.pose.position.z = frm->getP()->getState()(2);
- else
- frm_marker.pose.position.z = 0;
-
- // orientation
- if (frm->getO() != nullptr)
- {
- // 3D
- if (frm->getO()->getSize() > 1)
- {
- frm_marker.pose.orientation.w = frm->getO()->getState()(0);
- frm_marker.pose.orientation.x = frm->getO()->getState()(1);
- frm_marker.pose.orientation.y = frm->getO()->getState()(2);
- frm_marker.pose.orientation.z = frm->getO()->getState()(3);
- }
- // 2D
- else
- frm_marker.pose.orientation = tf::createQuaternionMsgFromYaw(frm->getO()->getState()(0));
- }
-}