#include <mrpt_localization_node.h>

Inheritance diagram for PFLocalizationNode:

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)
Parameters *	param ()
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::Subscriber >	sub_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

PFLocalizationNode::PFLocalizationNode ( ros::NodeHandle & n )

Definition at line 63 of file mrpt_localization_node.cpp.

PFLocalizationNode::~PFLocalizationNode ( ) [virtual]

Definition at line 62 of file mrpt_localization_node.cpp.

Member Function Documentation

void PFLocalizationNode::callbackBeacon ( const mrpt_msgs::ObservationRangeBeacon & _msg )

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.

void PFLocalizationNode::callbackLaser ( const sensor_msgs::LaserScan & _msg )

Definition at line 179 of file mrpt_localization_node.cpp.

void PFLocalizationNode::callbackMap ( const nav_msgs::OccupancyGrid & msg )

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.

void PFLocalizationNode::init ( )

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.

void PFLocalizationNode::loop ( )

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.

PFLocalizationNode::Parameters * PFLocalizationNode::param ( ) [private]

Definition at line 71 of file mrpt_localization_node.cpp.

void PFLocalizationNode::publishMap ( ) [private]

Definition at line 485 of file mrpt_localization_node.cpp.

void PFLocalizationNode::publishParticles ( ) [private]

Definition at line 501 of file mrpt_localization_node.cpp.

void PFLocalizationNode::publishPose ( )

Publish the current pose of the robot.

Definition at line 610 of file mrpt_localization_node.cpp.

void PFLocalizationNode::publishTF ( )

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]

void PFLocalizationNode::updateMap ( const nav_msgs::OccupancyGrid & _msg )

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.

void PFLocalizationNode::useROSLogLevel ( ) [private]

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]`