f808bc404a
* Baby steps * Compile without implementations * Compile combined_grids * Compile part of principal node map_merge.cpp * Finish 90% of main node * Move ros::names implementation to own file * Replace ros1 while loops threads with ros2 timers * Fix checking of map type for adding robots. bypass mutex for now * Working version without init poses, still verbose logs * Add namespace to explore_lite Add tb3 launch files for multirobot tests Finish multirobot map merge with poses known * Add files for tb3 demo * Fix launch file for demo with robot poses * Fix comments on locking * Change deprecated Ptr to SharedPtr in ros2 msgs variables * Change ConstPtr to ConstSharedPtr for ROS2 * Fix minor warnings in explor_lite * Attempt fix slam toolbox * Add launch and remove old ones * Add copyright * Add readme with instruction on how to run the demo in sim * Fix readme and port from_map_server launch file * Fix QoS for suscriptions with TRansientlocal
61 lines
2.3 KiB
C++
61 lines
2.3 KiB
C++
/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2015-2016, Jiri Horner.
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* Copyright (c) 2021, Carlos Alvarez.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Jiri Horner nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*********************************************************************/
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#ifndef GRID_COMPOSITOR_H_
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#define GRID_COMPOSITOR_H_
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#include <nav_msgs/msg/occupancy_grid.hpp>
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#include <opencv2/core/utility.hpp>
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namespace combine_grids
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{
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namespace internal
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{
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class GridCompositor
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{
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public:
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nav_msgs::msg::OccupancyGrid::SharedPtr compose(const std::vector<cv::Mat>& grids,
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const std::vector<cv::Rect>& rois);
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};
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} // namespace internal
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} // namespace combine_grids
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#endif // GRID_COMPOSITOR_H_
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