Initial commit, started working on

ufomap_mapping/CMakeLists.txt

@@ -0,0 +1,214 @@
+cmake_minimum_required(VERSION 3.8.2)
+project(ufomap_mapping)
+
+set(CMAKE_CXX_STANDARD 17)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  dynamic_reconfigure
+  geometry_msgs
+  nodelet
+  roscpp
+  sensor_msgs
+  std_msgs
+  std_srvs
+  tf2
+  tf2_ros
+  ufomap
+  ufomap_msgs
+  ufomap_ros
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   ufomap_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ufomap_mapping
+#  CATKIN_DEPENDS roscpp ufomap ufomap_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/ufomap_mapping.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/ufomap_mapping_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ufomap_mapping.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

ufomap_mapping/include/server.h

@@ -0,0 +1,55 @@
+#ifndef UFOMAP_MAPPING_SERVER_H
+#define UFOMAP_MAPPING_SERVER_H
+#include <ros/ros.h>
+
+#include <ufomap/octree.h>
+
+#include <ufomap_mapping/ServerConfig.h>
+
+#include <dynamic_reconfigure/server.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
+
+namespace ufomap_server
+{
+class UFOMapServer
+{
+public:
+	UFOMapServer();
+
+private:
+	void cloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
+
+	void timerCallback(const ros::TimerEvent& event);
+
+	void configCallback(ufomap_server::ServerConfig& config, uint32_t level);
+
+private:
+	ros::Subscriber cloud_sub_;
+
+	ros::Publisher map_pub_;
+	ros::Publisher map_binary_pub_;
+	ros::Publisher cloud_pub_;
+
+	ros::Timer pub_timer_;
+
+	ros::ServiceServer get_map_server_;
+	ros::ServiceServer clear_area_server_;
+	ros::ServiceServer reset_server_;
+
+	// TF2
+	tf2_ros::Buffer tf_buffer_;
+	tf2_ros::TransformListener tf_listener_;
+
+	float max_range_;
+
+	std::string frame_id_;
+
+	bool discrete_insert_;
+	bool depth_insert_;
+	bool n_insert_;
+};
+}  // namespace ufomap_server
+
+#endif  // UFOMAP_MAPPING_SERVER_H

ufomap_mapping/package.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ufomap_mapping</name>
+  <version>1.0.0</version>
+  <description>The ufomap_mapping package</description>
+
+  <maintainer email="[email protected]">Daniel Duberg</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">https://github.com/danielduberg/UFOMap</url>
+
+  <author email="[email protected]">Daniel Duberg</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nodelet</depend>
+  <depend>roscpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>ufomap</depend>
+  <depend>ufomap_msgs</depend>
+  <depend>ufomap_ros</depend>
+
+
+  <export>
+
+  </export>
+</package>