Class LocalizationSlamToolbox

Defined in File slam_toolbox_localization.hpp

Inheritance Relationships

Base Type

public slam_toolbox::SlamToolbox (Class SlamToolbox)

Derived Type

public slam_toolbox::MapAndLocalizationSlamToolbox (Class MapAndLocalizationSlamToolbox)

Class Documentation

class LocalizationSlamToolbox : public slam_toolbox::SlamToolbox 

Subclassed by slam_toolbox::MapAndLocalizationSlamToolbox

Public Functions

explicit LocalizationSlamToolbox(rclcpp::NodeOptions options)

inline virtual ~LocalizationSlamToolbox()

virtual void loadPoseGraphByParams()

Protected Functions

virtual void laserCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr scan) override

void localizePoseCallback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg)

bool clearLocalizationBuffer(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<std_srvs::srv::Empty::Request> req, std::shared_ptr<std_srvs::srv::Empty::Response> resp)

virtual bool serializePoseGraphCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Request> req, std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Response> resp) override

virtual bool deserializePoseGraphCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Request> req, std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Response> resp) override

virtual LocalizedRangeScan *addScan(LaserRangeFinder *laser, const sensor_msgs::msg::LaserScan::ConstSharedPtr &scan, Pose2 &pose) override

Protected Attributes

std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>> localization_pose_sub_

std::shared_ptr<rclcpp::Service<std_srvs::srv::Empty>> clear_localization_