Class MapAndLocalizationSlamToolbox

Defined in File slam_toolbox_map_and_localization.hpp

Inheritance Relationships

Base Type

public slam_toolbox::LocalizationSlamToolbox (Class LocalizationSlamToolbox)

Class Documentation

class MapAndLocalizationSlamToolbox : public slam_toolbox::LocalizationSlamToolbox 

Public Functions

explicit MapAndLocalizationSlamToolbox(rclcpp::NodeOptions options)

inline virtual ~MapAndLocalizationSlamToolbox()

virtual void loadPoseGraphByParams() override

CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override

CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override

Protected Functions

virtual void laserCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr scan) override

virtual bool serializePoseGraphCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Request> req, std::shared_ptr<slam_toolbox::srv::SerializePoseGraph::Response> resp) override

virtual bool deserializePoseGraphCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Request> req, std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Response> resp) override

bool setLocalizationModeCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<std_srvs::srv::SetBool::Request> req, std::shared_ptr<std_srvs::srv::SetBool::Response> resp)

virtual LocalizedRangeScan *addScan(LaserRangeFinder *laser, const sensor_msgs::msg::LaserScan::ConstSharedPtr &scan, Pose2 &pose) override

void toggleMode(bool enable_localization)

Protected Attributes

std::shared_ptr<rclcpp::Service<std_srvs::srv::SetBool>> ssSetLocalizationMode_