Classes | Public Member Functions | Private Member Functions | Private Attributes
PFLocalizationNode Class Reference

ROS Node. More...

#include <mrpt_localization_node.h>

Inheritance diagram for PFLocalizationNode:
Inheritance graph
[legend]

List of all members.

Classes

struct  Parameters

Public Member Functions

void callbackBeacon (const mrpt_msgs::ObservationRangeBeacon &)
void callbackInitialpose (const geometry_msgs::PoseWithCovarianceStamped &)
void callbackLaser (const sensor_msgs::LaserScan &)
void callbackMap (const nav_msgs::OccupancyGrid &)
void callbackOdometry (const nav_msgs::Odometry &)
void callbackRobotPose (const geometry_msgs::PoseWithCovarianceStamped &)
void init ()
void loop ()
void odometryForCallback (CObservationOdometry::Ptr &, const std_msgs::Header &)
 PFLocalizationNode (ros::NodeHandle &n)
void publishPose ()
 Publish the current pose of the robot.
void publishTF ()
 Publish map -> odom tf; as the filter provides map -> base, we multiply it by base -> odom.
void updateMap (const nav_msgs::OccupancyGrid &)
virtual ~PFLocalizationNode ()

Private Member Functions

bool mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
Parametersparam ()
void publishMap ()
void publishParticles ()
void update ()
void updateSensorPose (std::string frame_id)
void useROSLogLevel ()
virtual bool waitForMap ()
bool waitForTransform (mrpt::poses::CPose3D &des, const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01))

Private Attributes

std::map< std::string,
mrpt::poses::CPose3D > 
beacon_poses_
ros::ServiceClient client_map_
bool first_map_received_
std::map< std::string,
mrpt::poses::CPose3D > 
laser_poses_
unsigned long long loop_count_
 MRPT_ROS_LOG_MACROS
ros::NodeHandle nh_
ros::Publisher pub_map_
ros::Publisher pub_metadata_
ros::Publisher pub_particles_
ros::Publisher pub_pose_
nav_msgs::GetMap::Response resp_
ros::ServiceServer service_map_
ros::Subscriber sub_init_pose_
ros::Subscriber sub_map_
ros::Subscriber sub_odometry_
std::vector< ros::Subscribersub_sensors_
tf::TransformBroadcaster tf_broadcaster_
tf::TransformListener tf_listener_
ros::Time time_last_input_

Detailed Description

ROS Node.

Definition at line 61 of file mrpt_localization_node.h.


Constructor & Destructor Documentation

Definition at line 63 of file mrpt_localization_node.cpp.

Definition at line 62 of file mrpt_localization_node.cpp.


Member Function Documentation

Definition at line 214 of file mrpt_localization_node.cpp.

void PFLocalizationNode::callbackInitialpose ( const geometry_msgs::PoseWithCovarianceStamped &  _msg)

Definition at line 437 of file mrpt_localization_node.cpp.

Definition at line 179 of file mrpt_localization_node.cpp.

Definition at line 393 of file mrpt_localization_node.cpp.

void PFLocalizationNode::callbackOdometry ( const nav_msgs::Odometry &  _msg)

Definition at line 446 of file mrpt_localization_node.cpp.

void PFLocalizationNode::callbackRobotPose ( const geometry_msgs::PoseWithCovarianceStamped &  _msg)

Definition at line 250 of file mrpt_localization_node.cpp.

Initializes the parameter with common values to acive a working filter out of the box

Reimplemented from PFLocalization.

Definition at line 76 of file mrpt_localization_node.cpp.

Definition at line 135 of file mrpt_localization_node.cpp.

bool PFLocalizationNode::mapCallback ( nav_msgs::GetMap::Request &  req,
nav_msgs::GetMap::Response &  res 
) [private]

Definition at line 477 of file mrpt_localization_node.cpp.

void PFLocalizationNode::odometryForCallback ( CObservationOdometry::Ptr &  _odometry,
const std_msgs::Header _msg_header 
)

Definition at line 325 of file mrpt_localization_node.cpp.

Definition at line 71 of file mrpt_localization_node.cpp.

void PFLocalizationNode::publishMap ( ) [private]

Definition at line 485 of file mrpt_localization_node.cpp.

Definition at line 501 of file mrpt_localization_node.cpp.

Publish the current pose of the robot.

Definition at line 610 of file mrpt_localization_node.cpp.

Publish map -> odom tf; as the filter provides map -> base, we multiply it by base -> odom.

Definition at line 525 of file mrpt_localization_node.cpp.

void PFLocalizationNode::update ( ) [private]

Definition at line 471 of file mrpt_localization_node.cpp.

void PFLocalizationNode::updateSensorPose ( std::string  frame_id) [private]

Definition at line 406 of file mrpt_localization_node.cpp.

Definition at line 651 of file mrpt_localization_node.cpp.

bool PFLocalizationNode::waitForMap ( ) [private, virtual]

Reimplemented from PFLocalization.

Definition at line 347 of file mrpt_localization_node.cpp.

bool PFLocalizationNode::waitForTransform ( mrpt::poses::CPose3D &  des,
const std::string &  target_frame,
const std::string &  source_frame,
const ros::Time time,
const ros::Duration timeout,
const ros::Duration polling_sleep_duration = ros::Duration(0.01) 
) [private]

Definition at line 154 of file mrpt_localization_node.cpp.


Member Data Documentation

std::map<std::string, mrpt::poses::CPose3D> PFLocalizationNode::beacon_poses_ [private]

Definition at line 135 of file mrpt_localization_node.h.

Definition at line 126 of file mrpt_localization_node.h.

Definition at line 118 of file mrpt_localization_node.h.

std::map<std::string, mrpt::poses::CPose3D> PFLocalizationNode::laser_poses_ [private]

Definition at line 134 of file mrpt_localization_node.h.

unsigned long long PFLocalizationNode::loop_count_ [private]

Definition at line 120 of file mrpt_localization_node.h.

Definition at line 63 of file mrpt_localization_node.h.

Definition at line 117 of file mrpt_localization_node.h.

Definition at line 128 of file mrpt_localization_node.h.

Definition at line 129 of file mrpt_localization_node.h.

Definition at line 127 of file mrpt_localization_node.h.

Definition at line 130 of file mrpt_localization_node.h.

nav_msgs::GetMap::Response PFLocalizationNode::resp_ [private]

Definition at line 121 of file mrpt_localization_node.h.

Definition at line 131 of file mrpt_localization_node.h.

Definition at line 122 of file mrpt_localization_node.h.

Definition at line 125 of file mrpt_localization_node.h.

Definition at line 123 of file mrpt_localization_node.h.

Definition at line 124 of file mrpt_localization_node.h.

Definition at line 133 of file mrpt_localization_node.h.

Definition at line 132 of file mrpt_localization_node.h.

Definition at line 119 of file mrpt_localization_node.h.


The documentation for this class was generated from the following files:


mrpt_localization
Author(s): Markus Bader, Raphael Zack
autogenerated on Mon Sep 18 2017 03:12:10