Implementation for pointcloud source. More...

#include <nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp>

Inheritance diagram for nav2_collision_monitor::PointCloud:

Collaboration diagram for nav2_collision_monitor::PointCloud:

Public Member Functions
	PointCloud (const nav2::LifecycleNode::WeakPtr &node, const std::string &source_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	PointCloud constructor. More...

	~PointCloud ()
	PointCloud destructor.

void	configure ()
	Data source configuration routine. Obtains pointcloud related ROS-parameters and creates pointcloud subscriber.

bool	getData (const rclcpp::Time &curr_time, std::vector< Point > &data)
	Adds latest data from pointcloud source to the data array. More...

Public Member Functions inherited from nav2_collision_monitor::Source
	Source (const nav2::LifecycleNode::WeakPtr &node, const std::string &source_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Source constructor. More...

virtual	~Source ()
	Source destructor.

bool	getEnabled () const
	Obtains source enabled state. More...

std::string	getSourceName () const
	Obtains the name of the data source. More...

rclcpp::Duration	getSourceTimeout () const
	Obtains the source_timeout parameter of the data source. More...

Protected Member Functions
void	getParameters (std::string &source_topic)
	Getting sensor-specific ROS-parameters. More...

void	dataCallback (sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
	PointCloud data callback. More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Member Functions inherited from nav2_collision_monitor::Source
bool	configure ()
	Source configuration routine. More...

void	getCommonParameters (std::string &source_topic)
	Supporting routine obtaining ROS-parameters common for all data sources. More...

bool	sourceValid (const rclcpp::Time &source_time, const rclcpp::Time &curr_time) const
	Checks whether the source data might be considered as valid. More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

bool	getTransform (const rclcpp::Time &curr_time, const std_msgs::msg::Header &data_header, tf2::Transform &tf_transform) const
	Obtain the transform to get data from source frame and time where it was received to the base frame and current time (if base_shift_correction_ is true) or the transform without time shift considered which is less accurate but much more faster option not dependent on state estimation frames. More...

Protected Attributes
nav2::Subscription< sensor_msgs::msg::PointCloud2 >::SharedPtr	data_sub_
	PointCloud data subscriber.

std::string	transport_type_

double	min_height_

double	max_height_

double	min_range_

bool	use_global_height_

sensor_msgs::msg::PointCloud2::ConstSharedPtr	data_
	Latest data obtained from pointcloud.

Protected Attributes inherited from nav2_collision_monitor::Source
nav2::LifecycleNode::WeakPtr	node_
	Collision Monitor node.

rclcpp::Logger	logger_ {rclcpp::get_logger("collision_monitor")}
	Collision monitor node logger stored for further usage.

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
	Dynamic parameters handler.

std::string	source_name_
	Name of data source.

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
	TF buffer.

std::string	base_frame_id_
	Robot base frame ID.

std::string	global_frame_id_
	Global frame ID for correct transform calculation.

tf2::Duration	transform_tolerance_
	Transform tolerance.

rclcpp::Duration	source_timeout_
	Maximum time interval in which data is considered valid.

bool	base_shift_correction_
	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time.

bool	enabled_
	Whether source is enabled.

Detailed Description

Implementation for pointcloud source.

Definition at line 33 of file pointcloud.hpp.

Constructor & Destructor Documentation

◆ PointCloud()

nav2_collision_monitor::PointCloud::PointCloud	(	const nav2::LifecycleNode::WeakPtr &	node,
		const std::string &	source_name,
		const std::shared_ptr< tf2_ros::Buffer >	tf_buffer,
		const std::string &	base_frame_id,
		const std::string &	global_frame_id,
		const tf2::Duration &	transform_tolerance,
		const rclcpp::Duration &	source_timeout,
		const bool	base_shift_correction
	)

PointCloud constructor.

Parameters

node	Collision Monitor node pointer
source_name	Name of data source
tf_buffer	Shared pointer to a TF buffer
base_frame_id	Robot base frame ID. The output data will be transformed into this frame.
global_frame_id	Global frame ID for correct transform calculation
transform_tolerance	Transform tolerance
source_timeout	Maximum time interval in which data is considered valid
base_shift_correction	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time

Definition at line 28 of file pointcloud.cpp.

References nav2_collision_monitor::Source::logger_, and nav2_collision_monitor::Source::source_name_.

Member Function Documentation

◆ dataCallback()

void nav2_collision_monitor::PointCloud::dataCallback ( sensor_msgs::msg::PointCloud2::ConstSharedPtr msg )

protected

PointCloud data callback.

Parameters

msg	Shared pointer to PointCloud message

Definition at line 172 of file pointcloud.cpp.

References data_.

Referenced by configure().

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◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_collision_monitor::PointCloud::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 178 of file pointcloud.cpp.

References nav2_collision_monitor::Source::enabled_, nav2_collision_monitor::Source::source_name_, and use_global_height_.

Referenced by configure().

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◆ getData()

bool nav2_collision_monitor::PointCloud::getData	(	const rclcpp::Time &	curr_time,
		std::vector< Point > &	data
	)

virtual

Adds latest data from pointcloud source to the data array.

Parameters

curr_time	Current node time for data interpolation
data	Array where the data from source to be added. Added data is transformed to base_frame_id_ coordinate system at curr_time.