odometry_helper_ros.h
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00037 
00038 #ifndef ODOMETRY_HELPER_ROS2_H_
00039 #define ODOMETRY_HELPER_ROS2_H_
00040 
00041 #include <tf/transform_datatypes.h>
00042 #include <nav_msgs/Odometry.h>
00043 #include <ros/ros.h>
00044 #include <boost/thread.hpp>
00045 
00046 namespace base_local_planner {
00047 
00048 class OdometryHelperRos {
00049 public:
00050 
00055   OdometryHelperRos(std::string odom_topic = "");
00056   ~OdometryHelperRos() {}
00057 
00062   void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
00063 
00064   void getOdom(nav_msgs::Odometry& base_odom);
00065 
00066   void getRobotVel(tf::Stamped<tf::Pose>& robot_vel);
00067 
00073   void setOdomTopic(std::string odom_topic);
00074 
00076   std::string getOdomTopic() const { return odom_topic_; }
00077 
00078 private:
00079   //odom topic
00080   std::string odom_topic_;
00081 
00082   // we listen on odometry on the odom topic
00083   ros::Subscriber odom_sub_;
00084   nav_msgs::Odometry base_odom_;
00085   boost::mutex odom_mutex_;
00086   // global tf frame id
00087   std::string frame_id_; 
00088 };
00089 
00090 } /* namespace base_local_planner */
00091 #define CHUNKY 1
00092 #endif /* ODOMETRY_HELPER_ROS2_H_ */


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30