jpde.lopes's profile - activity

Hi,

I have the following Nodelet onInit:

void OD::onInit()
{
    ros::NodeHandle& private_nh = getPrivateNodeHandle();
    ros::NodeHandle& nh = getNodeHandle();
    NODELET_DEBUG("Initialized the Nodelet (OD)");
    odom_sub        = nh.subscribe("/base_odometry/odom", 10, &OD::odomCallback, this);
}

Where I have declared a nodeHandle and a privateNodeHandle. If I understood correctly, a good rule of thumb is to use the nodeHandle with Topics and the Private one with Parameters.

Well, on the odomCallback, I want check if nh.ok() or if private_nh.ok(), as well as private_nh.param<float>("uav_sphere_scale", scale, 1);, but none of this work and give the error:

error: ‘nh’ was not declared in this scope
(...)
error: ‘private_nh’ was not declared in this scope
private_nh.param<float>("uav_sphere_scale", scale, 1);

On my class, OD, the onInit was declared as public and the odomCallback as protected.

My question is, how can I access, either the NodeHandle, or the PrivateNodeHandle on my callback function?

EDIT: I already tried to declare the NodeHandlers a-priori:

namespace nodelet_obstacle_detector

{ class OD : public nodelet::Nodelet { public: virtual void onInit(); ros::NodeHandle& private_nh; ros::NodeHandle& nh;

But it shows the following error when I compile:

/home/(...)/nodelet_obstacle_detector.h:49:11: error: uninitialized reference member in ‘class nodelet_obstacle_detector::OD’
 class OD : public nodelet::Nodelet
       ^
/home/(...)/nodelet_obstacle_detector.h:54:30: note: ‘ros::NodeHandle& nodelet_obstacle_detector::OD::nh’ should be initialized
         ros::NodeHandle& nh;

Thank you in advance.

Hello,

I am currently creating an Octomap through the Octomap Server. What I want to do next is to receive the octree for detecting obstacles while the octomap is being created. I've tried this:

    octomap::OcTree* octree = NULL;
    serv_name = "/octomap_binary";

    while((nh_.ok() && !ros::service::call(serv_name, req, resp)) || resp.map.data.size()==0)
    {
        ROS_WARN("Request to %s failed; trying again...", nh_.resolveName(serv_name).c_str());
        usleep(1000000);
    }

    //Receive Octree
    msg_octree = octomap_msgs::msgToMap(resp.map);

    if (msg_octree)
        //Create object of type octomap::OcTree*
        octree = dynamic_cast<octomap::OcTree*>(msg_octree);
    if (octree)
    {
        ROS_INFO("%s: Octomap received %zu nodes, %f m of resolution", ros::this_node::getName().c_str(), octree->size(), octree->getResolution());
        tree_fcl = (new fcl::OcTree(std::shared_ptr<const octomap::OcTree>(octree)));
    } else
        ROS_ERROR("Error reading OcTree from stream");

Which works! This piece of code is inside a callback which loops with ros::spinOnce(). As this is the way it is done inside the octomap_server files, is it the best way for me to receive the Octree? Because while the vehicle is scanning the environment, the map keeps increasing, to the point where I am receiving more than 2 million nodes at once!!!.

Instead of updating the current Octree, I am receiving the whole Octree every time it loops through that code, right? My problem is that the code starts getting really slow. Is there a better way for me to receive the octree where I keep updating it instead of receiving all of it every time (with 2+ million nodes)?

Thank you in advance.

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I have created another question w/ more significant data.

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