namespace mrpt::ros1bridge

Overview

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.

namespace ros1bridge {

// classes

class MapHdl;

// global functions

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

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

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

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

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

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

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

bool fromROS(
    const sensor_msgs::PointCloud2& m,
    mrpt::obs::CObservationRotatingScan& o,
    const mrpt::poses::CPose3D& sensorPoseOnRobot,
    unsigned int num_azimuth_divisions = 360,
    float max_intensity = 1000.0f
    );

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

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

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

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

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

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

mrpt::img::CImage fromROS(const sensor_msgs::Image& i);
sensor_msgs::Image toROS(const mrpt::img::CImage& i, const std_msgs::Header& msg_header);
bool fromROS(const sensor_msgs::Imu& msg, mrpt::obs::CObservationIMU& obj);
bool toROS(const mrpt::obs::CObservationIMU& obj, const std_msgs::Header& msg_header, sensor_msgs::Imu& msg);
bool fromROS(const sensor_msgs::LaserScan& msg, const mrpt::poses::CPose3D& pose, mrpt::obs::CObservation2DRangeScan& obj);
bool toROS(const mrpt::obs::CObservation2DRangeScan& obj, sensor_msgs::LaserScan& msg);
bool toROS(const mrpt::obs::CObservation2DRangeScan& obj, sensor_msgs::LaserScan& msg, geometry_msgs::Pose& pose);
static mrpt::system::VerbosityLevel rosLoggerLvlToMRPTLoggerLvl(log4cxx::LevelPtr lvl);

static void mrptToROSLoggerCallback(
    const std::string& msg,
    const mrpt::system::VerbosityLevel level,
    ] const std::string& loggerName,
    ] const mrpt::system::TTimeStamp timestamp
    );

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

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);
ros::Time toROS(const mrpt::system::TTimeStamp& src);

} // namespace ros1bridge

Global Functions

static mrpt::system::VerbosityLevel rosLoggerLvlToMRPTLoggerLvl(log4cxx::LevelPtr lvl)

function that converts ROS verbosity level log4cxx::Level to MRPT equivalent MRPT’s VerbosityLevel

static void mrptToROSLoggerCallback(
    const std::string& msg,
    const mrpt::system::VerbosityLevel level,
    ] const std::string& loggerName,
    ] const mrpt::system::TTimeStamp timestamp
    )

callback that is called by MRPT mrpt::system::COuputLogger to redirect log messages to ROS logger.

This function has to be inline, otherwise option log4j.logger.ros.package_name will be taken from mrpt_bridge instead of the package from which macro is actually called.