Namespaces
	algebraic_connectivity_maximization

	broker

	global_descriptor_loop_closure_detection

	lidar_handler_node

	loop_closure_detection_node

	loop_closure_sparse_matching

	neighbor_monitor

	neighbors_manager

	nns_matching

Classes
class	DecentralizedPGO

class	Logger

class	SimulatedRendezVous

class	IMapManager
	Map management interface class. More...

class	MapManager
	Loop Closure Detection Management. More...

class	RGBDHandler

class	ISensorHandler
	Interface class for handling sensor data. More...

class	StereoHandler

Enumerations
enum	OptimizerState { IDLE , WAITING_FOR_NEIGHBORS_INFO , POSEGRAPH_COLLECTION , WAITING_FOR_NEIGHBORS_POSEGRAPHS , START_OPTIMIZATION , OPTIMIZATION }
	State of the Pose Graph Optimization node. More...

Functions
gtsam::Pose3	odometry_msg_to_pose3 (const nav_msgs::msg::Odometry &odom_msg)
	Converts odometry message to gtsam::Pose3. More...

gtsam::Pose3	transform_msg_to_pose3 (const geometry_msgs::msg::Transform &msg)
	Converts a transform msg into a gtsam::Pose3. More...

geometry_msgs::msg::Pose	gtsam_pose_to_msg (const gtsam::Pose3 &pose)
	Converts from GTSAM to ROS 2 message. More...

geometry_msgs::msg::Transform	gtsam_pose_to_transform_msg (const gtsam::Pose3 &pose)
	Converts from GTSAM to ROS 2 message. More...

std::vector< cslam_common_interfaces::msg::PoseGraphValue >	gtsam_values_to_msg (const gtsam::Values::shared_ptr values)
	Converts from GTSAM to ROS 2 message. More...

std::vector< cslam_common_interfaces::msg::PoseGraphEdge >	gtsam_factors_to_msg (const gtsam::NonlinearFactorGraph::shared_ptr factors)
	Converts from GTSAM to ROS 2 message. More...

std::vector< cslam_common_interfaces::msg::PoseGraphValue >	gtsam_values_to_msg (const gtsam::Values &values)
	Converts from GTSAM to ROS 2 message. More...

std::vector< cslam_common_interfaces::msg::PoseGraphEdge >	gtsam_factors_to_msg (const gtsam::NonlinearFactorGraph &factors)
	Converts from GTSAM to ROS 2 message. More...

gtsam::Pose3	pose_msg_to_gtsam (const geometry_msgs::msg::Pose &pose)
	Converts from ROS 2 message to GTSAM. More...

gtsam::Values::shared_ptr	values_msg_to_gtsam (const std::vector< cslam_common_interfaces::msg::PoseGraphValue > &values)
	Converts from ROS 2 message to GTSAM. More...

gtsam::NonlinearFactorGraph::shared_ptr	edges_msg_to_gtsam (const std::vector< cslam_common_interfaces::msg::PoseGraphEdge > &edges)
	Converts from ROS 2 message to GTSAM. More...

sensor_msgs::msg::PointCloud2	create_colored_pointcloud (const std::shared_ptr< rtabmap::SensorData > &sensor_data, const std_msgs::msg::Header &header)
	Create a colored pointcloud message. More...

template<typename T >
void	depth_image_to_pointcloud (const std::shared_ptr< rtabmap::SensorData > &sensor_data, sensor_msgs::msg::PointCloud2::SharedPtr &cloud_msg, const image_geometry::PinholeCameraModel &model, double range_max=0.0)
	Convert depth image to pointcloud. More...

void	add_rgb_to_pointcloud (const std::shared_ptr< rtabmap::SensorData > &sensor_data, sensor_msgs::msg::PointCloud2::SharedPtr &cloud_msg)
	Add color to pointcloud. More...

Enumeration Type Documentation

◆ OptimizerState

enum cslam::OptimizerState

State of the Pose Graph Optimization node.

IDLE: Do nothing. WAITING_FOR_NEIGHBORS_INFO: Wait for info on neighbors in range. POSEGRAPH_COLLECTION: Send request for neighboring robots pose graph WAITING_FOR_NEIGHBORS_POSEGRAPHS: Waits for neighboring robot pose graphs START_OPTIMIZATION: Triggers optimization process. OPTIMIZATION: While the pose graph optimization thresad is running.

Enumerator
IDLE
WAITING_FOR_NEIGHBORS_INFO
POSEGRAPH_COLLECTION
WAITING_FOR_NEIGHBORS_POSEGRAPHS
START_OPTIMIZATION
OPTIMIZATION

Definition at line 54 of file decentralized_pgo.h.

Function Documentation

◆ add_rgb_to_pointcloud()

void cslam::add_rgb_to_pointcloud	(	const std::shared_ptr< rtabmap::SensorData > &	sensor_data,
		sensor_msgs::msg::PointCloud2::SharedPtr &	cloud_msg
	)

Add color to pointcloud.

Parameters

sensor_data
cloud_msg

Definition at line 103 of file visualization_utils.cpp.

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◆ create_colored_pointcloud()

sensor_msgs::msg::PointCloud2 cslam::create_colored_pointcloud	(	const std::shared_ptr< rtabmap::SensorData > &	sensor_data,
		const std_msgs::msg::Header &	header
	)

Create a colored pointcloud message.

Parameters

sensor_data	keyframe data
header	timestamp + frame_id

Returns: sensor_msgs::msg::PointCloud2 message

Definition at line 8 of file visualization_utils.cpp.

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◆ depth_image_to_pointcloud()

template<typename T >

void cslam::depth_image_to_pointcloud	(	const std::shared_ptr< rtabmap::SensorData > &	sensor_data,
		sensor_msgs::msg::PointCloud2::SharedPtr &	cloud_msg,
		const image_geometry::PinholeCameraModel &	model,
		double	range_max = `0.0`
	)

Convert depth image to pointcloud.

Template Parameters

T

Parameters

sensor_data
cloud_msg
model
range_max

Definition at line 60 of file visualization_utils.cpp.

◆ edges_msg_to_gtsam()

gtsam::NonlinearFactorGraph::shared_ptr cslam::edges_msg_to_gtsam ( const std::vector< cslam_common_interfaces::msg::PoseGraphEdge > & edges )

Converts from ROS 2 message to GTSAM.

Parameters

edges

Returns: gtsam::NonlinearFactorGraph::shared_ptr

Definition at line 126 of file gtsam_utils.cpp.

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◆ gtsam_factors_to_msg() [1/2]

std::vector< cslam_common_interfaces::msg::PoseGraphEdge > cslam::gtsam_factors_to_msg ( const gtsam::NonlinearFactorGraph & factors )

Converts from GTSAM to ROS 2 message.

Parameters

factors

Returns: std::vector<cslam_common_interfaces::msg::PoseGraphEdge>

Definition at line 59 of file gtsam_utils.cpp.

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◆ gtsam_factors_to_msg() [2/2]

std::vector< cslam_common_interfaces::msg::PoseGraphEdge > cslam::gtsam_factors_to_msg ( const gtsam::NonlinearFactorGraph::shared_ptr factors )

Converts from GTSAM to ROS 2 message.

Parameters

factors

Returns: std::vector<cslam_common_interfaces::msg::PoseGraphEdge>

Definition at line 92 of file gtsam_utils.cpp.

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◆ gtsam_pose_to_msg()

geometry_msgs::msg::Pose cslam::gtsam_pose_to_msg ( const gtsam::Pose3 & pose )

Converts from GTSAM to ROS 2 message.

Parameters

pose

Returns: geometry_msgs::msg::Pose

Definition at line 5 of file gtsam_utils.cpp.

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◆ gtsam_pose_to_transform_msg()

geometry_msgs::msg::Transform cslam::gtsam_pose_to_transform_msg ( const gtsam::Pose3 & pose )

Converts from GTSAM to ROS 2 message.

Parameters

pose

Returns: geometry_msgs::msg::Transform

Definition at line 19 of file gtsam_utils.cpp.

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◆ gtsam_values_to_msg() [1/2]

std::vector< cslam_common_interfaces::msg::PoseGraphValue > cslam::gtsam_values_to_msg ( const gtsam::Values & values )

Converts from GTSAM to ROS 2 message.

Parameters

values

Returns: std::vector<cslam_common_interfaces::msg::PoseGraphValue>

Definition at line 35 of file gtsam_utils.cpp.

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◆ gtsam_values_to_msg() [2/2]

std::vector< cslam_common_interfaces::msg::PoseGraphValue > cslam::gtsam_values_to_msg ( const gtsam::Values::shared_ptr values )

Converts from GTSAM to ROS 2 message.

Parameters

values

Returns: std::vector<cslam_common_interfaces::msg::PoseGraphValue>

Definition at line 54 of file gtsam_utils.cpp.

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◆ odometry_msg_to_pose3()

gtsam::Pose3 cslam::odometry_msg_to_pose3 ( const nav_msgs::msg::Odometry & odom_msg )

Converts odometry message to gtsam::Pose3.

Parameters

odom_msg Odometry message

Returns: pose Pose data

Definition at line 110 of file gtsam_utils.cpp.

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◆ pose_msg_to_gtsam()

gtsam::Pose3 cslam::pose_msg_to_gtsam ( const geometry_msgs::msg::Pose & pose )

Converts from ROS 2 message to GTSAM.

Parameters

pose

Returns: gtsam::Pose3

Definition at line 103 of file gtsam_utils.cpp.

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◆ transform_msg_to_pose3()

gtsam::Pose3 cslam::transform_msg_to_pose3 ( const geometry_msgs::msg::Transform & msg )

Converts a transform msg into a gtsam::Pose3.

Parameters

msg	Transform message

Returns: pose Pose data

Definition at line 96 of file gtsam_utils.cpp.

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◆ values_msg_to_gtsam()

gtsam::Values::shared_ptr cslam::values_msg_to_gtsam ( const std::vector< cslam_common_interfaces::msg::PoseGraphValue > & values )

Converts from ROS 2 message to GTSAM.

Parameters

values

Returns: gtsam::Values::shared_ptr

Definition at line 114 of file gtsam_utils.cpp.

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Namespaces

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ OptimizerState

Function Documentation

◆ add_rgb_to_pointcloud()

◆ create_colored_pointcloud()

◆ depth_image_to_pointcloud()

◆ edges_msg_to_gtsam()

◆ gtsam_factors_to_msg() [1/2]

◆ gtsam_factors_to_msg() [2/2]

◆ gtsam_pose_to_msg()

◆ gtsam_pose_to_transform_msg()

◆ gtsam_values_to_msg() [1/2]

◆ gtsam_values_to_msg() [2/2]

◆ odometry_msg_to_pose3()

◆ pose_msg_to_gtsam()

◆ transform_msg_to_pose3()

◆ values_msg_to_gtsam()