Class HomingVisualization

Defined in File visualization.hpp

Class Documentation

class HomingVisualization

Public Functions

HomingVisualization()

HomingVisualization(const rclcpp_lifecycle::LifecycleNode::SharedPtr &node, std::string frame_id)

void initialize(const rclcpp_lifecycle::LifecycleNode::SharedPtr &node)

void activate()

void deactivate()

void cleanup()

void publishViaPoints(const std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> &via_points, const std::string &ns = "ViaPoints", const std_msgs::msg::ColorRGBA &color = toColorMsg(1.0, 0.0, 0.0, 1.0)) const

void publishLocalPlan(const nav_msgs::msg::Path &local_plan) const

void publishGlobalPlan(const nav_msgs::msg::Path &global_plan) const

void publishGlobalPlan(const std::vector<geometry_msgs::msg::PoseStamped> &global_plan, std::string frame_id) const

Public Static Functions

static std_msgs::msg::ColorRGBA toColorMsg(double a, double r, double g, double b)

Protected Attributes

bool initialized_

std::string frame_id_

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> global_plan_pub_

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> local_plan_pub_

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::Marker>> homing_marker_pub_