Skip to content

[melodic] publish pose topic (#146) #305

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
zengxiaolei wants to merge 1 commit into from
Closed

[melodic] publish pose topic (#146) #305

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion slam_toolbox/include/slam_toolbox/slam_toolbox_common.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,7 @@ class SlamToolbox
std::unique_ptr<tf2_ros::TransformBroadcaster> tfB_;
std::unique_ptr<message_filters::Subscriber<sensor_msgs::LaserScan> > scan_filter_sub_;
std::unique_ptr<tf2_ros::MessageFilter<sensor_msgs::LaserScan> > scan_filter_;
ros::Publisher sst_, sstm_;
ros::Publisher sst_, sstm_, sspose_;
ros::ServiceServer ssMap_, ssPauseMeasurements_, ssSerialize_, ssDesserialize_;

// Storage for ROS parameters
Expand Down
11 changes: 11 additions & 0 deletions slam_toolbox/src/slam_toolbox_common.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,7 @@ void SlamToolbox::setROSInterfaces(ros::NodeHandle& node)
tfB_ = std::make_unique<tf2_ros::TransformBroadcaster>();
sst_ = node.advertise<nav_msgs::OccupancyGrid>(map_name_, 1, true);
sstm_ = node.advertise<nav_msgs::MapMetaData>(map_name_ + "_metadata", 1, true);
sspose_ = node.advertise<geometry_msgs::PoseWithCovarianceStamped>("karto_pose", 5, true);
ssMap_ = node.advertiseService("dynamic_map", &SlamToolbox::mapCallback, this);
ssPauseMeasurements_ = node.advertiseService("pause_new_measurements", &SlamToolbox::pauseNewMeasurementsCallback, this);
ssSerialize_ = node.advertiseService("serialize_map", &SlamToolbox::serializePoseGraphCallback, this);
Expand Down Expand Up @@ -397,6 +398,16 @@ karto::LocalizedRangeScan* SlamToolbox::getLocalizedRangeScan(
tf2::Transform pose_original = smapper_->toTfPose(karto_pose);
tf2::Transform tf_pose_transformed = reprocessing_transform_ * pose_original;
karto::Pose2 transformed_pose = smapper_->toKartoPose(tf_pose_transformed);

geometry_msgs::PoseWithCovarianceStamped pose_msg;
pose_msg.header.frame_id = map_frame_;
pose_msg.header.stamp = ros::Time::now();
pose_msg.pose.pose.position.x = karto_pose.GetX();
pose_msg.pose.pose.position.y = karto_pose.GetY();
tf2::Quaternion q_pose;
q_pose.setRPY(0, 0, karto_pose.GetHeading());
tf2::convert(q_pose, pose_msg.pose.pose.orientation);
sspose_.publish(pose_msg);

// create localized range scan
karto::LocalizedRangeScan* range_scan = new karto::LocalizedRangeScan(
Expand Down