cslam.lidar_handler_node.LidarHandler Class Reference

Public Member Functions
def	__init__ (self, node, params)
def	lidar_callback (self, pc_msg, odom_msg)
def	gps_callback (self, gps_msg)
def	send_local_descriptors_request (self, request)
def	receive_local_descriptors (self, msg)
def	receive_local_keyframe_match (self, msg)
def	odom_distance_squared (self, odom0, odom1)
def	generate_new_keyframe (self, msg)
def	process_new_sensor_data (self)

Public Attributes
	node
	params
	keyframe_odom_publisher
	keyframe_pointcloud_publisher
	send_local_descriptors_subscriber
	local_keyframe_match_subscriber
	pointcloud_descriptors_publisher
	pointcloud_descriptors_subscriber
	intra_robot_loop_closure_publisher
	inter_robot_loop_closure_publisher
	viz_pointcloud_publisher
	processing_timer
	received_data
	local_descriptors_map
	nb_local_keyframes
	previous_keyframe
	previous_odom
	log_publisher
	log_local_descriptors_cumulative_communication
	gps_subscriber
	gps_data
	latest_gps

Detailed Description

Front-End data handler for lidar data

Definition at line 16 of file lidar_handler_node.py.

Constructor & Destructor Documentation

__init__()

def cslam.lidar_handler_node.LidarHandler.__init__	(		self,
			node,
			params
	)

Definition at line 19 of file lidar_handler_node.py.

Member Function Documentation

generate_new_keyframe()

def cslam.lidar_handler_node.LidarHandler.generate_new_keyframe	(		self,
			msg
	)

Check if we should generate a new keyframe

Args:
    msg (nav_msgs/Odometry): odometry msg

Returns:
    bool: flag indicating if a new keyframe should be created.

Definition at line 149 of file lidar_handler_node.py.

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gps_callback()

def cslam.lidar_handler_node.LidarHandler.gps_callback	(		self,
			gps_msg
	)

GPS data callback

Definition at line 86 of file lidar_handler_node.py.

lidar_callback()

def cslam.lidar_handler_node.LidarHandler.lidar_callback	(		self,
			pc_msg,
			odom_msg
	)

Sensor data callback

Args:
    pc_msg (sensor_msgs/Pointcloud2): point cloud
    odom_msg (nav_msgs/Odometry): odometry estimate

Definition at line 72 of file lidar_handler_node.py.

odom_distance_squared()

def cslam.lidar_handler_node.LidarHandler.odom_distance_squared	(		self,
			odom0,
			odom1
	)

Compute the squared distance between two odometry messages

Definition at line 144 of file lidar_handler_node.py.

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process_new_sensor_data()

def cslam.lidar_handler_node.LidarHandler.process_new_sensor_data

(

self

)

 Process new sensor data

Definition at line 168 of file lidar_handler_node.py.

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receive_local_descriptors()

def cslam.lidar_handler_node.LidarHandler.receive_local_descriptors	(		self,
			msg
	)

Callback for local descriptors from other robots

Definition at line 106 of file lidar_handler_node.py.

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receive_local_keyframe_match()

def cslam.lidar_handler_node.LidarHandler.receive_local_keyframe_match	(		self,
			msg
	)

Callback for local keyframe match for intra-robot loop closures

Definition at line 128 of file lidar_handler_node.py.

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send_local_descriptors_request()

def cslam.lidar_handler_node.LidarHandler.send_local_descriptors_request	(		self,
			request
	)

Callback for local descriptors request

Definition at line 91 of file lidar_handler_node.py.

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Member Data Documentation

gps_data

cslam.lidar_handler_node.LidarHandler.gps_data

Definition at line 69 of file lidar_handler_node.py.

gps_subscriber

cslam.lidar_handler_node.LidarHandler.gps_subscriber

Definition at line 68 of file lidar_handler_node.py.

inter_robot_loop_closure_publisher

cslam.lidar_handler_node.LidarHandler.inter_robot_loop_closure_publisher

Definition at line 49 of file lidar_handler_node.py.

intra_robot_loop_closure_publisher

cslam.lidar_handler_node.LidarHandler.intra_robot_loop_closure_publisher

Definition at line 47 of file lidar_handler_node.py.

keyframe_odom_publisher

cslam.lidar_handler_node.LidarHandler.keyframe_odom_publisher

Definition at line 33 of file lidar_handler_node.py.

keyframe_pointcloud_publisher

cslam.lidar_handler_node.LidarHandler.keyframe_pointcloud_publisher

Definition at line 35 of file lidar_handler_node.py.

latest_gps

cslam.lidar_handler_node.LidarHandler.latest_gps

Definition at line 70 of file lidar_handler_node.py.

local_descriptors_map

cslam.lidar_handler_node.LidarHandler.local_descriptors_map

Definition at line 57 of file lidar_handler_node.py.

local_keyframe_match_subscriber

cslam.lidar_handler_node.LidarHandler.local_keyframe_match_subscriber

Definition at line 40 of file lidar_handler_node.py.

log_local_descriptors_cumulative_communication

cslam.lidar_handler_node.LidarHandler.log_local_descriptors_cumulative_communication

Definition at line 65 of file lidar_handler_node.py.

log_publisher

cslam.lidar_handler_node.LidarHandler.log_publisher

Definition at line 63 of file lidar_handler_node.py.

nb_local_keyframes

cslam.lidar_handler_node.LidarHandler.nb_local_keyframes

Definition at line 58 of file lidar_handler_node.py.

node

cslam.lidar_handler_node.LidarHandler.node

Definition at line 20 of file lidar_handler_node.py.

params

cslam.lidar_handler_node.LidarHandler.params

Definition at line 21 of file lidar_handler_node.py.

pointcloud_descriptors_publisher

cslam.lidar_handler_node.LidarHandler.pointcloud_descriptors_publisher

Definition at line 43 of file lidar_handler_node.py.

pointcloud_descriptors_subscriber

cslam.lidar_handler_node.LidarHandler.pointcloud_descriptors_subscriber

Definition at line 45 of file lidar_handler_node.py.

previous_keyframe

cslam.lidar_handler_node.LidarHandler.previous_keyframe

Definition at line 59 of file lidar_handler_node.py.

previous_odom

cslam.lidar_handler_node.LidarHandler.previous_odom

Definition at line 60 of file lidar_handler_node.py.

processing_timer

cslam.lidar_handler_node.LidarHandler.processing_timer

Definition at line 54 of file lidar_handler_node.py.

received_data

cslam.lidar_handler_node.LidarHandler.received_data

Definition at line 56 of file lidar_handler_node.py.

send_local_descriptors_subscriber

cslam.lidar_handler_node.LidarHandler.send_local_descriptors_subscriber

Definition at line 37 of file lidar_handler_node.py.

viz_pointcloud_publisher

cslam.lidar_handler_node.LidarHandler.viz_pointcloud_publisher

Definition at line 51 of file lidar_handler_node.py.

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The documentation for this class was generated from the following file:

• /home/lajoiepy/Documents/phd/projects/C-SLAM/Swarm-SLAM/src/cslam/cslam/lidar_handler_node.py