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Flag added to switch between a static and moving sensor #62

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Mar 10, 2020
Merged

Flag added to switch between a static and moving sensor #62

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3 changes: 2 additions & 1 deletion mrpt_rbpf_slam/include/mrpt_rbpf_slam/mrpt_rbpf_slam_wrapper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -152,7 +152,8 @@ class PFslamWrapper : public PFslam
std::string base_frame_id_; ///< robot frame

// Sensor source
std::string sensor_source_; ///< 2D laser scans
std::string sensor_source_; ///< 2D laser scans
bool update_sensor_pose_; ///< on true the sensor pose is updated on every sensor reading

std::map<std::string, mrpt::poses::CPose3D> laser_poses_; ///< laser scan poses with respect to the map
std::map<std::string, mrpt::poses::CPose3D> beacon_poses_; ///< beacon poses with respect to the map
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16 changes: 16 additions & 0 deletions mrpt_rbpf_slam/src/mrpt_rbpf_slam_wrapper.cpp
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Expand Up @@ -40,6 +40,13 @@ bool PFslamWrapper::getParams(const ros::NodeHandle &nh_p) {
nh_p.param<std::string>("sensor_source", sensor_source_, "scan");
ROS_INFO("sensor_source: %s", sensor_source_.c_str());

nh_p.param<std::string>("sensor_source", sensor_source_, "scan");
ROS_INFO("sensor_source: %s", sensor_source_.c_str());

nh_p.param<bool>("update_sensor_pose", update_sensor_pose_, true);
ROS_INFO("update_sensor_pose: %s", (update_sensor_pose_?"TRUE":"FALSE"));


PFslam::Options options;
if (!loadOptions(nh_p, options)) {
ROS_ERROR("Not able to read all parameters!");
Expand Down Expand Up @@ -143,9 +150,13 @@ void PFslamWrapper::laserCallback(const sensor_msgs::LaserScan &msg) {
using namespace mrpt::obs;
CObservation2DRangeScan::Ptr laser = CObservation2DRangeScan::Create();


if (laser_poses_.find(msg.header.frame_id) == laser_poses_.end()) {
// check if the tf to establish the sensor pose
updateSensorPose(msg.header.frame_id);
} else {
// update sensor pose
if(update_sensor_pose_) updateSensorPose(msg.header.frame_id);
mrpt::poses::CPose3D pose = laser_poses_[msg.header.frame_id];
mrpt_bridge::convert(msg, laser_poses_[msg.header.frame_id], *laser);

Expand Down Expand Up @@ -174,9 +185,14 @@ void PFslamWrapper::callbackBeacon(
using namespace mrpt::obs;

CObservationBeaconRanges::Ptr beacon = CObservationBeaconRanges::Create();

if (beacon_poses_.find(msg.header.frame_id) == beacon_poses_.end()) {
// check if the tf to establish the sensor pose
updateSensorPose(msg.header.frame_id);
} else {
// update sensor pose
if(update_sensor_pose_) updateSensorPose(msg.header.frame_id);

mrpt_bridge::convert(msg, beacon_poses_[msg.header.frame_id], *beacon);

sensory_frame_ = CSensoryFrame::Create();
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