[mrpt-ros2bridge]

Overview

Conversion between MRPT and ROS2 types.

Library mrpt-ros2bridge

This C++ library is part of MRPT and can be installed in Debian-based systems with:

sudo apt install libmrpt-ros2bridge-dev

Read also how to import MRPT into your CMake scripts.

Library contents

// classes

class mrpt::ros2bridge::MapHdl;

// global functions

bool mrpt::ros2bridge::fromROS(const nav_msgs::msg::OccupancyGrid& src, mrpt::maps::COccupancyGridMap2D& des);

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::COccupancyGridMap2D& src,
    nav_msgs::msg::OccupancyGrid& msg,
    const std_msgs::msg::Header& header,
    bool as_costmap = false
    );

bool mrpt::ros2bridge::toROS(const mrpt::maps::COccupancyGridMap2D& src, nav_msgs::msg::OccupancyGrid& msg, bool as_costmap = false);
bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::PointCloud& msg, mrpt::maps::CSimplePointsMap& obj);

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::CSimplePointsMap& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::PointCloud& msg
    );

bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::PointCloud2& msg, mrpt::maps::CSimplePointsMap& obj);

bool mrpt::ros2bridge::fromROS(
    const sensor_msgs::msg::PointCloud2& msg,
    mrpt::maps::CPointsMapXYZI& obj
    );

bool mrpt::ros2bridge::fromROS(
    const sensor_msgs::msg::PointCloud2& msg,
    mrpt::maps::CPointsMapXYZIRT& obj
    );

bool mrpt::ros2bridge::fromROS(
    const sensor_msgs::msg::PointCloud2& m,
    mrpt::obs::CObservationRotatingScan& o,
    const mrpt::poses::CPose3D& sensorPoseOnRobot,
    unsigned int num_azimuth_divisions = 0,
    float max_intensity = 1000.0f
    );

std::set<std::string> mrpt::ros2bridge::extractFields(const sensor_msgs::msg::PointCloud2& msg);

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::CSimplePointsMap& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::PointCloud2& msg
    );

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::CPointsMapXYZI& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::PointCloud2& msg
    );

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::CPointsMapXYZIRT& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::PointCloud2& msg
    );

bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::NavSatFix& msg, mrpt::obs::CObservationGPS& obj);

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservationGPS& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::NavSatFix& msg
    );

mrpt::img::CImage mrpt::ros2bridge::fromROS(const sensor_msgs::msg::Image& i);
sensor_msgs::msg::Image mrpt::ros2bridge::toROS(const mrpt::img::CImage& i, const std_msgs::msg::Header& msg_header);
bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::Imu& msg, mrpt::obs::CObservationIMU& obj);

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservationIMU& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::Imu& msg
    );

bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::LaserScan& msg, const mrpt::poses::CPose3D& pose, mrpt::obs::CObservation2DRangeScan& obj);
bool mrpt::ros2bridge::toROS(const mrpt::obs::CObservation2DRangeScan& obj, sensor_msgs::msg::LaserScan& msg);

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservation2DRangeScan& obj,
    sensor_msgs::msg::LaserScan& msg,
    geometry_msgs::msg::Pose& pose
    );

tf2::Matrix3x3 mrpt::ros2bridge::toROS(const mrpt::math::CMatrixDouble33& src);
tf2::Transform mrpt::ros2bridge::toROS_tfTransform(const mrpt::poses::CPose2D& src);
geometry_msgs::msg::Pose mrpt::ros2bridge::toROS_Pose(const mrpt::poses::CPose2D& src);
tf2::Transform mrpt::ros2bridge::toROS_tfTransform(const mrpt::math::TPose2D& src);
geometry_msgs::msg::Pose mrpt::ros2bridge::toROS_Pose(const mrpt::math::TPose2D& src);
tf2::Transform mrpt::ros2bridge::toROS_tfTransform(const mrpt::poses::CPose3D& src);
geometry_msgs::msg::Pose mrpt::ros2bridge::toROS_Pose(const mrpt::poses::CPose3D& src);
tf2::Transform mrpt::ros2bridge::toROS_tfTransform(const mrpt::math::TPose3D& src);
geometry_msgs::msg::Pose mrpt::ros2bridge::toROS_Pose(const mrpt::math::TPose3D& src);
geometry_msgs::msg::PoseWithCovariance mrpt::ros2bridge::toROS_Pose(const mrpt::poses::CPose3DPDFGaussian& src);
geometry_msgs::msg::PoseWithCovariance mrpt::ros2bridge::toROS(const mrpt::poses::CPose3DPDFGaussianInf& src);
geometry_msgs::msg::PoseWithCovariance mrpt::ros2bridge::toROS(const mrpt::poses::CPosePDFGaussian& src);
geometry_msgs::msg::PoseWithCovariance mrpt::ros2bridge::toROS(const mrpt::poses::CPosePDFGaussianInf& src);
geometry_msgs::msg::Quaternion mrpt::ros2bridge::toROS(const mrpt::math::CQuaternionDouble& src);
mrpt::poses::CPose3D mrpt::ros2bridge::fromROS(const tf2::Transform& src);
mrpt::math::CMatrixDouble33 mrpt::ros2bridge::fromROS(const tf2::Matrix3x3& src);
mrpt::poses::CPose3D mrpt::ros2bridge::fromROS(const geometry_msgs::msg::Pose& src);
mrpt::poses::CPose3DPDFGaussian mrpt::ros2bridge::fromROS(const geometry_msgs::msg::PoseWithCovariance& src);
mrpt::math::CQuaternionDouble mrpt::ros2bridge::fromROS(const geometry_msgs::msg::Quaternion& src);
bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::Range& msg, mrpt::obs::CObservationRange& obj);

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservationRange& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::Range* msg
    );

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservationStereoImages& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::Image& left,
    sensor_msgs::msg::Image& right,
    stereo_msgs::msg::DisparityImage& disparity
    );

mrpt::system::TTimeStamp mrpt::ros2bridge::fromROS(const rclcpp::Time& src);
rclcpp::Time mrpt::ros2bridge::toROS(const mrpt::system::TTimeStamp& src);

Global Functions

bool mrpt::ros2bridge::fromROS(const nav_msgs::msg::OccupancyGrid& src, mrpt::maps::COccupancyGridMap2D& des)

converts ros msg to mrpt object

Parameters:

src
des

Returns:

true on sucessful conversion, false on any error.

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::COccupancyGridMap2D& src,
    nav_msgs::msg::OccupancyGrid& msg,
    const std_msgs::msg::Header& header,
    bool as_costmap = false
    )

converts mrpt object to ros msg and updates the msg header

Parameters:

src
header
as_costmap	If set to true, gridmap cell values will be copied without changes (interpreted as int8_t instead of Log-odds)

Returns:

true on sucessful conversion, false on any error.

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::COccupancyGridMap2D& src,
    nav_msgs::msg::OccupancyGrid& msg,
    bool as_costmap = false
    )

converts mrpt object to ros msg

Returns:

true on sucessful conversion, false on any error.

bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::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.

Returns:

true on sucessful conversion, false on any error.

See also:

toROS

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::CSimplePointsMap& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::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.

Since CSimplePointsMap only contains (x,y,z) data, sensor_msgs::PointCloud::channels will be empty.

Returns:

true on sucessful conversion, false on any error.

See also:

fromROS

bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::PointCloud2& msg, mrpt::maps::CSimplePointsMap& obj)

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap Only (x,y,z) data is converted.

Convert sensor_msgs/PointCloud2 -> mrpt::slam::CSimplePointsMap.

To use the intensity channel, see the alternative signatures for CPointsMapXYZI or CPointsMapXYZIRT Requires point cloud fields: x,y,z.

Returns:

true on sucessful conversion, false on any error.

true on successful conversion, false on any error.

See also:

toROS

bool mrpt::ros2bridge::fromROS(
    const sensor_msgs::msg::PointCloud2& m,
    mrpt::obs::CObservationRotatingScan& o,
    const mrpt::poses::CPose3D& sensorPoseOnRobot,
    unsigned int num_azimuth_divisions = 0,
    float max_intensity = 1000.0f
    )

Convert sensor_msgs/PointCloud2 -> mrpt::obs::CObservationRotatingScan.

Requires point cloud fields: x,y,z,ring[,intensity][,time]

If num_azimuth_divisions=0, it will be taken from the point cloud “width” field.

Points are supposed to be given in the sensor frame of reference.

std::set<std::string> mrpt::ros2bridge::extractFields(const sensor_msgs::msg::PointCloud2& msg)

Extract a list of fields found in the point cloud.

Typically: {“x”,”y”,”z”,”intensity”}

bool mrpt::ros2bridge::toROS(
    const mrpt::maps::CSimplePointsMap& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::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.

Generated sensor_msgs::PointCloud2::channels: x, y, z.

Returns:

true on sucessful conversion, false on any error.

See also:

fromROS

bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::NavSatFix& msg, mrpt::obs::CObservationGPS& obj)

Convert sensor_msgs/NavSatFix -> mrpt::obs::CObservationGPS.

Returns:

true on sucessful conversion, false on any error.

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservationGPS& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::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.

Returns:

true on sucessful conversion, only if the input observation has a GGA message.

mrpt::img::CImage mrpt::ros2bridge::fromROS(const sensor_msgs::msg::Image& i)

Makes a deep copy of the image data.

sensor_msgs::msg::Image mrpt::ros2bridge::toROS(
    const mrpt::img::CImage& i,
    const std_msgs::msg::Header& msg_header
    )

Makes a deep copy of the image data.

bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::Imu& msg, mrpt::obs::CObservationIMU& obj)

Convert sensor_msgs/Imu -> mrpt::obs::CObservationIMU // STILL NEED TO WRITE CODE FOR COVARIANCE.

Returns:

true on sucessful conversion, false on any error.

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservationIMU& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::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.

Since COnservationIMU does not contain covariance terms NEED TO fix those.

Returns:

true on sucessful conversion, false on any error.

bool mrpt::ros2bridge::fromROS(
    const sensor_msgs::msg::LaserScan& msg,
    const mrpt::poses::CPose3D& pose,
    mrpt::obs::CObservation2DRangeScan& obj
    )

ROS->MRPT: Takes a sensor_msgs::msg::LaserScan and the relative pose of the laser wrt base_link and builds a CObservation2DRangeScan.

Returns:

true on sucessful conversion, false on any error.

See also:

toROS

bool mrpt::ros2bridge::toROS(const mrpt::obs::CObservation2DRangeScan& obj, sensor_msgs::msg::LaserScan& msg)

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::msg::LaserScan.

Returns:

true on sucessful conversion, false on any error.

See also:

fromROS

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservation2DRangeScan& obj,
    sensor_msgs::msg::LaserScan& msg,
    geometry_msgs::msg::Pose& pose
    )

MRPT->ROS: Takes a CObservation2DRangeScan and outputs range data in sensor_msgs::msg::LaserScan + the relative pose of the laser wrt base_link.

Returns:

true on sucessful conversion, false on any error.

See also:

fromROS

bool mrpt::ros2bridge::fromROS(const sensor_msgs::msg::Range& msg, mrpt::obs::CObservationRange& obj)

Convert sensor_msgs/Range -> mrpt::obs::CObservationRange.

Returns:

true on sucessful conversion, false on any error.

bool mrpt::ros2bridge::toROS(
    const mrpt::obs::CObservationRange& obj,
    const std_msgs::msg::Header& msg_header,
    sensor_msgs::msg::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.

Since COnservation does not contain “radiation_type”, sensor_msgs::msg::Range::radiation_type will be empty.

Returns:

true on sucessful conversion, false on any error.

mrpt::system::TTimeStamp mrpt::ros2bridge::fromROS(const rclcpp::Time& src)

converts ros time to mrpt time

Parameters:

src	ros time
des	mrpt time

rclcpp::Time mrpt::ros2bridge::toROS(const mrpt::system::TTimeStamp& src)

converts mrpt time to ros time

Parameters:

src	ros time
des	mrpt time