pointcloud_octomap_updater.hpp

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/* Author: Jon Binney, Ioan Sucan */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/callback_group.hpp>
#include <rclcpp/version.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/message_filter.h>
#if RCLCPP_VERSION_GTE(28, 3, 3)  // Rolling
#include <message_filters/subscriber.hpp>
#else
#include <message_filters/subscriber.h>
#endif
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <moveit/occupancy_map_monitor/occupancy_map_updater.hpp>
#include <moveit/point_containment_filter/shape_mask.hpp>
 
#include <memory>
 
namespace occupancy_map_monitor
{
class PointCloudOctomapUpdater : public OccupancyMapUpdater
{
public:
  PointCloudOctomapUpdater();
  ~PointCloudOctomapUpdater() override{};
 
  bool setParams(const std::string& name_space) override;
 
  bool initialize(const rclcpp::Node::SharedPtr& node) override;
  void start() override;
  void stop() override;
  ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape) override;
  void forgetShape(ShapeHandle handle) override;
 
protected:
  virtual void updateMask(const sensor_msgs::msg::PointCloud2& cloud, const Eigen::Vector3d& sensor_origin,
                          std::vector<int>& mask);
 
private:
  bool getShapeTransform(ShapeHandle h, Eigen::Isometry3d& transform) const;
  void cloudMsgCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr& cloud_msg);
 
  // TODO: Enable private node for publishing filtered point cloud
  // ros::NodeHandle root_nh_;
  // ros::NodeHandle private_nh_;
  rclcpp::Node::SharedPtr node_;
 
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 
  // Initialize clock type to RCL_ROS_TIME to prevent exception about time sources mismatch
  rclcpp::Time last_update_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
 
  /* params */
  std::string point_cloud_topic_;
  double scale_;
  double padding_;
  double max_range_;
  unsigned int point_subsample_;
  double max_update_rate_;
  std::string filtered_cloud_topic_;
  std::string ns_;
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr filtered_cloud_publisher_;
 
  message_filters::Subscriber<sensor_msgs::msg::PointCloud2>* point_cloud_subscriber_;
  tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>* point_cloud_filter_;
 
  /* used to store all cells in the map which a given ray passes through during raycasting.
     we cache this here because it dynamically pre-allocates a lot of memory in its constructor */
  octomap::KeyRay key_ray_;
 
  std::unique_ptr<point_containment_filter::ShapeMask> shape_mask_;
  std::vector<int> mask_;
 
  rclcpp::Logger logger_;
};
}  // namespace occupancy_map_monitor