localization_main.cpp File Reference

Main Vector Localization program. More...

#include <stdlib.h>
#include <stdio.h>
#include <limits.h>
#include <string.h>
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/Image.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <ros/package.h>
#include "vectorparticlefilter.h"
#include "vector_map.h"
#include "popt_pp.h"
#include "terminal_utils.h"
#include "timer.h"
#include "proghelp.h"
#include "cgr_localization/DisplayMsg.h"
#include "cgr_localization/LocalizationInterfaceSrv.h"
#include "cgr_localization/LocalizationMsg.h"
#include "configreader.h"
#include "plane_filtering.h"

Include dependency graph for localization_main.cpp:

Go to the source code of this file.

Functions
void	publishGUI ()
void	lidarCallback (const sensor_msgs::LaserScan &msg)
void	depthCallback (const sensor_msgs::Image &msg)
void	publishLocation (bool limitRate=true)
bool	localizationCallback (LocalizationInterfaceSrv::Request &req, LocalizationInterfaceSrv::Response &res)
void	ClearGUI ()
void	drawPointCloud ()
void	LoadParameters ()
void	InitModels ()
void	odometryCallback (const nav_msgs::OdometryConstPtr &msg)
void	initialPoseCallback (const geometry_msgs::PoseWithCovarianceStamped &msg)
int	main (int argc, char **argv)

Variables
bool	run = true
bool	usePointCloud = false
bool	noLidar = false
int	numParticles = 20
int	debugLevel = -1
vector2f	initialLoc
float	initialAngle
float	locUncertainty
float	angleUncertainty
VectorLocalization2D *	localization
Publisher	guiPublisher
Publisher	localizationPublisher
Publisher	filteredPointCloudPublisher
ServiceServer	localizationServer
Publisher	particlesPublisher
tf::TransformBroadcaster *	transformBroadcaster
tf::TransformListener *	transformListener
DisplayMsg	guiMsg
sensor_msgs::PointCloud	filteredPointCloudMsg
VectorLocalization2D::PointCloudParams	pointCloudParams
	FSPF point cloud.
VectorLocalization2D::LidarParams	lidarParams
VectorLocalization2D::MotionModelParams	motionParams
vector< vector2f >	pointCloud
vector< vector2f >	pointCloudNormals
string	curMapName
vector2f	curLoc
float	curAngle
double	curTime
sensor_msgs::LaserScan	lastLidarMsg
sensor_msgs::Image	lastDepthMsg
geometry_msgs::PoseArray	particlesMsg
GVector::matrix3d< float >	kinectToRobotTransform
KinectRawDepthCam	kinectDepthCam
PlaneFilter::PlaneFilterParams	filterParams
PlaneFilter	planeFilter

Detailed Description

Main Vector Localization program.

Author

Joydeep Biswas, (C) 2010

Definition in file localization_main.cpp.