Class BaseAMCLNode

Inheritance Relationships

Base Type

  • public rclcpp_lifecycle::LifecycleNode

Derived Types

Class Documentation

class BaseAMCLNode : public rclcpp_lifecycle::LifecycleNode

Base AMCL lifecycle node, with some basic common functionalities, such as transform tree utilities, common publishers, subscribers, lifecycle related callbacks and configuration points, enabling extension by inheritance.

Subclassed by beluga_amcl::AmclNode, beluga_amcl::NdtAmclNode, beluga_amcl::NdtAmclNode3D

Public Functions

explicit BaseAMCLNode(const std::string &node_name = "amcl", const std::string &node_namespace = "", const rclcpp::NodeOptions &node_options = rclcpp::NodeOptions{})

Constructor, following LifecycleNode signature.

~BaseAMCLNode() override

Destructor for the base AMCL node.

Protected Functions

CallbackReturn on_configure(const rclcpp_lifecycle::State&) override

Callback for lifecycle transitions from the UNCONFIGURED state to the INACTIVE state.

CallbackReturn on_activate(const rclcpp_lifecycle::State&) override

Callback for lifecycle transitions from the INACTIVE state to the ACTIVE state.

CallbackReturn on_deactivate(const rclcpp_lifecycle::State&) override

Callback for lifecycle transitions from the ACTIVE state to the INACTIVE state.

CallbackReturn on_cleanup(const rclcpp_lifecycle::State&) override

Callback for lifecycle transitions from the INACTIVE state to the UNCONFIGURED state.

CallbackReturn on_shutdown(const rclcpp_lifecycle::State&) override

Callback for lifecycle transitions from most states to the FINALIZED state.

auto get_execution_policy() const -> ExecutionPolicyVariant

Get execution policy from parameters.

void periodic_timer_callback()

Callback for the periodic particle updates.

void autostart_callback()

Callback for the autostart timer.

inline virtual void do_autostart_callback()

User provided extra steps for the autostart process.

inline virtual void do_configure(const rclcpp_lifecycle::State &state)

Extra steps for the on_configure callback. Defaults to no-op.

inline virtual void do_deactivate(const rclcpp_lifecycle::State &state)

Extra steps for the on_deactivate callback. Defaults to no-op.

inline virtual void do_shutdown(const rclcpp_lifecycle::State &state)

Extra steps for the on_shutdown callback. Defaults to no-op.

inline virtual void do_cleanup(const rclcpp_lifecycle::State &state)

Extra steps for the on_cleanup callback. Defaults to no-op.

inline virtual void do_activate(const rclcpp_lifecycle::State &state)

Extra steps for the on_activate callback. Defaults to no-op.

inline virtual void do_periodic_timer_callback()

Extra steps for the periodic updates timer callback events. Defaults to no-op.

inline virtual void do_initial_pose_callback(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)

Extra steps for (re)initialization messages.

void initial_pose_callback(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)

Callback for (re)initialization messages.

Protected Attributes

rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PoseArray>::SharedPtr particle_cloud_pub_

Particle cloud publisher.

rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>::SharedPtr particle_markers_pub_

Particle markers publisher.

rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_pub_

Estimated pose publisher.

std::unique_ptr<bond::Bond> bond_

Node bond with the lifecycle manager.

rclcpp::TimerBase::SharedPtr timer_

Timer for periodic particle cloud updates.

std::unique_ptr<tf2_ros::Buffer> tf_buffer_

Transforms buffer.

std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_

Transforms broadcaster.

std::unique_ptr<tf2_ros::TransformListener> tf_listener_

Transforms listener.

rclcpp::TimerBase::SharedPtr autostart_timer_

Timer for node to configure and activate itself.

rclcpp::CallbackGroup::SharedPtr common_callback_group_

Common mutually exclusive callback group.

rclcpp::SubscriptionOptions common_subscription_options_

Common subscription options.

rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr initial_pose_sub_

Pose (re)initialization subscription.