Class OdometryROS

Defined in File OdometryROS.h

Nested Relationships

Nested Types

Class OdometryROS::OdomStatusTask

Inheritance Relationships

Base Type

public rclcpp::Node

Derived Types

public rtabmap_odom::ICPOdometry (Class ICPOdometry)
public rtabmap_odom::RGBDOdometry (Class RGBDOdometry)
public rtabmap_odom::StereoOdometry (Class StereoOdometry)

Class Documentation

class OdometryROS : public rclcpp::Node

Subclassed by rtabmap_odom::ICPOdometry, rtabmap_odom::RGBDOdometry, rtabmap_odom::StereoOdometry

Public Functions

explicit OdometryROS(const rclcpp::NodeOptions &options)

explicit OdometryROS(const std::string &name, const rclcpp::NodeOptions &options)

virtual ~OdometryROS()

void processData(rtabmap::SensorData &data, const std_msgs::msg::Header &header)

void resetOdom(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>)

void resetToPose(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<rtabmap_msgs::srv::ResetPose::Request>, std::shared_ptr<rtabmap_msgs::srv::ResetPose::Response>)

void pause(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>)

void resume(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>)

void setLogDebug(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>)

void setLogInfo(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>)

void setLogWarn(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>)

void setLogError(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>)

inline const std::string &frameId() const

inline const std::string &odomFrameId() const

inline const std::string &guessFrameId() const

inline const rtabmap::ParametersMap &parameters() const

inline bool isPaused() const

Protected Functions

void init(bool stereoParams, bool visParams, bool icpParams)

inline rmw_qos_reliability_policy_t qos() const

void initDiagnosticMsg(const std::string &subscribedTopicsMsg, bool approxSync, const std::string &subscribedTopic = "")

inline virtual void flushCallbacks()

inline tf2_ros::Buffer &tfBuffer()

inline const double &waitForTransform() const

rtabmap::Transform velocityGuess() const

inline double previousStamp() const

inline virtual void postProcessData(const rtabmap::SensorData&, const std_msgs::msg::Header&) const