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MRPT
2.0.1
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ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationGPS.h.
ROS message : http://docs.ros.org/api/sensor_msgs/html/msg/Range.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationRange.h.
ROS message: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html MRPT message: https://github.com/MRPT/mrpt/blob/master/libs/obs/include/mrpt/obs/CObservationIMU.h.
Conversion functions between ROS 1 <-> MRPT types.
Classes | |
| class | MapHdl |
| Methods to convert between ROS msgs and MRPT objects for map datatypes. More... | |
Functions | |
| bool | fromROS (const sensor_msgs::NavSatFix &msg, mrpt::obs::CObservationGPS &obj) |
| Convert sensor_msgs/NavSatFix -> mrpt::obs::CObservationGPS. More... | |
| bool | toROS (const mrpt::obs::CObservationGPS &obj, const std_msgs::Header &msg_header, sensor_msgs::NavSatFix &msg) |
| Convert mrpt::obs::CObservationGPS -> sensor_msgs/NavSatFix The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes. More... | |
| mrpt::img::CImage | fromROS (const sensor_msgs::Image &i) |
| Makes a deep copy of the image data. More... | |
| sensor_msgs::Image | toROS (const mrpt::img::CImage &i, const std_msgs::Header &msg_header) |
| Makes a deep copy of the image data. More... | |
| bool | fromROS (const sensor_msgs::Imu &msg, mrpt::obs::CObservationIMU &obj) |
| Convert sensor_msgs/Imu -> mrpt::obs::CObservationIMU // STILL NEED TO WRITE CODE FOR COVARIANCE. More... | |
| bool | toROS (const mrpt::obs::CObservationIMU &obj, const std_msgs::Header &msg_header, sensor_msgs::Imu &msg) |
| Convert mrpt::obs::CObservationIMU -> sensor_msgs/Imu The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes. More... | |
| bool | fromROS (const sensor_msgs::LaserScan &msg, const mrpt::poses::CPose3D &pose, mrpt::obs::CObservation2DRangeScan &obj) |
| ROS->MRPT: Takes a sensor_msgs::LaserScan and the relative pose of the laser wrt base_link and builds a CObservation2DRangeScan. More... | |
| bool | toROS (const mrpt::obs::CObservation2DRangeScan &obj, sensor_msgs::LaserScan &msg) |
| MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan. More... | |
| bool | toROS (const mrpt::obs::CObservation2DRangeScan &obj, sensor_msgs::LaserScan &msg, geometry_msgs::Pose &pose) |
| MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::LaserScan + the relative pose of the laser wrt base_link. More... | |
| tf2::Matrix3x3 | toROS (const mrpt::math::CMatrixDouble33 &src) |
| tf2::Transform | toROS_tfTransform (const mrpt::poses::CPose2D &src) |
| geometry_msgs::Pose | toROS_Pose (const mrpt::poses::CPose2D &src) |
| tf2::Transform | toROS_tfTransform (const mrpt::math::TPose2D &src) |
| geometry_msgs::Pose | toROS_Pose (const mrpt::math::TPose2D &src) |
| tf2::Transform | toROS_tfTransform (const mrpt::poses::CPose3D &src) |
| geometry_msgs::Pose | toROS_Pose (const mrpt::poses::CPose3D &src) |
| tf2::Transform | toROS_tfTransform (const mrpt::math::TPose3D &src) |
| geometry_msgs::Pose | toROS_Pose (const mrpt::math::TPose3D &src) |
| geometry_msgs::PoseWithCovariance | toROS_Pose (const mrpt::poses::CPose3DPDFGaussian &src) |
| geometry_msgs::PoseWithCovariance | toROS (const mrpt::poses::CPose3DPDFGaussianInf &src) |
| geometry_msgs::PoseWithCovariance | toROS (const mrpt::poses::CPosePDFGaussian &src) |
| geometry_msgs::PoseWithCovariance | toROS (const mrpt::poses::CPosePDFGaussianInf &src) |
| geometry_msgs::Quaternion | toROS (const mrpt::math::CQuaternionDouble &src) |
| mrpt::poses::CPose3D | fromROS (const tf2::Transform &src) |
| mrpt::math::CMatrixDouble33 | fromROS (const tf2::Matrix3x3 &src) |
| mrpt::poses::CPose3D | fromROS (const geometry_msgs::Pose &src) |
| mrpt::poses::CPose3DPDFGaussian | fromROS (const geometry_msgs::PoseWithCovariance &src) |
| mrpt::math::CQuaternionDouble | fromROS (const geometry_msgs::Quaternion &src) |
| bool | fromROS (const sensor_msgs::Range &msg, mrpt::obs::CObservationRange &obj) |
| Convert sensor_msgs/Range -> mrpt::obs::CObservationRange. More... | |
| bool | toROS (const mrpt::obs::CObservationRange &obj, const std_msgs::Header &msg_header, sensor_msgs::Range *msg) |
| Convert mrpt::obs::CObservationRange -> sensor_msgs/Range The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes. More... | |
| bool | toROS (const mrpt::obs::CObservationStereoImages &obj, const std_msgs::Header &msg_header, sensor_msgs::Image &left, sensor_msgs::Image &right, stereo_msgs::DisparityImage &disparity) |
| mrpt::system::TTimeStamp | fromROS (const ros::Time &src) |
| converts ros time to mrpt time More... | |
| ros::Time | toROS (const mrpt::system::TTimeStamp &src) |
| converts mrpt time to ros time More... | |
| bool | convert (const sensor_msgs::LaserScan &msg, const mrpt::poses::CPose3D &pose, mrpt::obs::CObservation2DRangeScan &obj) |
| static bool | check_field (const sensor_msgs::PointField &input_field, std::string check_name, const sensor_msgs::PointField **output) |
| static void | get_float_from_field (const sensor_msgs::PointField *field, const unsigned char *data, float &output) |
| static void | get_uint16_from_field (const sensor_msgs::PointField *field, const unsigned char *data, uint16_t &output) |
Maps, Occupancy Grid Maps: ROS <-> MRPT | |
| bool | fromROS (const nav_msgs::OccupancyGrid &src, mrpt::maps::COccupancyGridMap2D &des) |
| converts ros msg to mrpt object More... | |
| bool | toROS (const mrpt::maps::COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg, const std_msgs::Header &header) |
| converts mrpt object to ros msg and updates the msg header More... | |
| bool | toROS (const mrpt::maps::COccupancyGridMap2D &src, nav_msgs::OccupancyGrid &msg) |
| converts mrpt object to ros msg More... | |
Point clouds: ROS <-> MRPT | |
| bool | fromROS (const sensor_msgs::PointCloud &msg, mrpt::maps::CSimplePointsMap &obj) |
| Convert sensor_msgs/PointCloud -> mrpt::maps::CSimplePointsMap CSimplePointsMap only contains (x,y,z) data, so sensor_msgs::PointCloud::channels are ignored. More... | |
| bool | toROS (const mrpt::maps::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud &msg) |
| Convert mrpt::maps::CSimplePointsMap -> sensor_msgs/PointCloud The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes. More... | |
sensor_msgs::PointCloud2: ROS <-> MRPT | |
| bool | fromROS (const sensor_msgs::PointCloud2 &msg, mrpt::maps::CSimplePointsMap &obj) |
| Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap Only (x,y,z) data is converted. More... | |
| bool | fromROS (const sensor_msgs::PointCloud2 &msg, mrpt::maps::CPointsMapXYZI &obj) |
| bool | fromROS (const sensor_msgs::PointCloud2 &m, mrpt::obs::CObservationRotatingScan &o, const mrpt::poses::CPose3D &sensorPoseOnRobot, unsigned int num_azimuth_divisions=360) |
| Convert sensor_msgs/PointCloud2 -> mrpt::obs::CObservationRotatingScan. More... | |
| std::set< std::string > | extractFields (const sensor_msgs::PointCloud2 &msg) |
| Extract a list of fields found in the point cloud. More... | |
| bool | toROS (const mrpt::maps::CSimplePointsMap &obj, const std_msgs::Header &msg_header, sensor_msgs::PointCloud2 &msg) |
| Convert mrpt::slam::CSimplePointsMap -> sensor_msgs/PointCloud2 The user must supply the "msg_header" field to be copied into the output message object, since that part does not appear in MRPT classes. More... | |
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static |
Definition at line 23 of file point_cloud2.cpp.
Referenced by fromROS().
| bool mrpt::ros1bridge::convert | ( | const sensor_msgs::LaserScan & | msg, |
| const mrpt::poses::CPose3D & | pose, | ||
| mrpt::obs::CObservation2DRangeScan & | obj | ||
| ) |
Definition at line 20 of file laser_scan.cpp.
References mrpt::obs::CObservation2DRangeScan::aperture, ASSERT_, fromROS(), mrpt::obs::CObservation2DRangeScan::getScanRange(), mrpt::obs::CObservation2DRangeScan::maxRange, mrpt::obs::CObservation2DRangeScan::resizeScan(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation2DRangeScan::setScanRange(), mrpt::obs::CObservation2DRangeScan::setScanRangeValidity(), and mrpt::obs::CObservation::timestamp.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::loadFromConfigFile(), mrpt::config::simpleini::CSimpleIniTempl< SI_CHAR, SI_STRLESS, SI_CONVERTER >::Save(), and TEST().
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Definition at line 45 of file point_cloud2.cpp.
References mrpt::opengl::internal::data.
Referenced by fromROS().
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static |
Definition at line 60 of file point_cloud2.cpp.
References mrpt::opengl::internal::data.
Referenced by fromROS().
| Page generated by Doxygen 1.8.14 for MRPT 2.0.1 Git: 0fef1a6d7 Fri Apr 3 23:00:21 2020 +0200 at vie abr 3 23:20:28 CEST 2020 | |