odometry_helper_ros.h
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37 
38 #ifndef ODOMETRY_HELPER_ROS2_H_
39 #define ODOMETRY_HELPER_ROS2_H_
40 
41 #include <tf/transform_datatypes.h>
42 #include <nav_msgs/Odometry.h>
43 #include <ros/ros.h>
44 #include <boost/thread.hpp>
45 
46 namespace base_local_planner {
47 
49 public:
50 
55  OdometryHelperRos(std::string odom_topic = "");
57 
62  void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);
63 
64  void getOdom(nav_msgs::Odometry& base_odom);
65 
66  void getRobotVel(tf::Stamped<tf::Pose>& robot_vel);
67 
73  void setOdomTopic(std::string odom_topic);
74 
76  std::string getOdomTopic() const { return odom_topic_; }
77 
78 private:
79  //odom topic
80  std::string odom_topic_;
81 
82  // we listen on odometry on the odom topic
84  nav_msgs::Odometry base_odom_;
85  boost::mutex odom_mutex_;
86  // global tf frame id
87  std::string frame_id_;
88 };
89 
90 } /* namespace base_local_planner */
91 #define CHUNKY 1
92 #endif /* ODOMETRY_HELPER_ROS2_H_ */
void getRobotVel(tf::Stamped< tf::Pose > &robot_vel)
void getOdom(nav_msgs::Odometry &base_odom)
std::string getOdomTopic() const
Return the current odometry topic.
OdometryHelperRos(std::string odom_topic="")
Constructor.
void odomCallback(const nav_msgs::Odometry::ConstPtr &msg)
Callback for receiving odometry data.
void setOdomTopic(std::string odom_topic)
Set the odometry topic. This overrides what was set in the constructor, if anything.
std::string frame_id_
The frame_id associated this data.


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49