RosRobotLocalizationListener class. More...

#include <ros_robot_localization_listener.h>

Public Member Functions
const std::string &	getBaseFrameId () const
	getBaseFrameId Returns the base frame id of the localization listener More...

bool	getState (const double time, const std::string &frame_id, Eigen::VectorXd &state, Eigen::MatrixXd &covariance, std::string world_frame_id="") const
	Get a state from the localization estimator. More...

bool	getState (const ros::Time &ros_time, const std::string &frame_id, Eigen::VectorXd &state, Eigen::MatrixXd &covariance, const std::string &world_frame_id="") const
	Get a state from the localization estimator. More...

const std::string &	getWorldFrameId () const
	getWorldFrameId Returns the world frame id of the localization listener More...

	RosRobotLocalizationListener ()
	Constructor. More...

	~RosRobotLocalizationListener ()
	Destructor. More...

Private Member Functions
void	odomAndAccelCallback (const nav_msgs::Odometry &odom, const geometry_msgs::AccelWithCovarianceStamped &accel)
	Callback for odom and accel. More...

Private Attributes
message_filters::Subscriber< geometry_msgs::AccelWithCovarianceStamped >	accel_sub_
	Subscriber to the acceleration state topic (output of a filter node) More...

std::string	base_frame_id_
	Child frame id received from the Odometry message. More...

RobotLocalizationEstimator *	estimator_
	The core state estimator that facilitates inter- and extrapolation between buffered states. More...

ros::NodeHandle	nh_
	A public handle to the ROS node. More...

ros::NodeHandle	nh_p_
	A private handle to the ROS node. More...

message_filters::Subscriber< nav_msgs::Odometry >	odom_sub_
	Subscriber to the odometry state topic (output of a filter node) More...

message_filters::TimeSynchronizer< nav_msgs::Odometry, geometry_msgs::AccelWithCovarianceStamped >	sync_
	Waits for both an Odometry and an Accel message before calling a single callback function. More...

tf2_ros::Buffer	tf_buffer_
	Tf buffer for looking up transforms. More...

tf2_ros::TransformListener	tf_listener_
	Transform listener to fill the tf_buffer. More...

std::string	world_frame_id_
	Frame id received from the odometry message. More...

Detailed Description

RosRobotLocalizationListener class.

This class wraps the RobotLocalizationEstimator. It listens to topics over which the (filtered) robot state is published (odom and accel) and pushes them into its instance of the RobotLocalizationEstimator. It exposes a getState method to offer the user the estimated state at a requested time. This class offers the option to run this listener without the need to run a separate node. If you do wish to run this functionality in a separate node, consider the robot localization listener node.

Definition at line 58 of file ros_robot_localization_listener.h.

Constructor & Destructor Documentation

RobotLocalization::RosRobotLocalizationListener::RosRobotLocalizationListener ( )

Constructor.

The RosRobotLocalizationListener constructor initializes nodehandles, subscribers, a filter for synchronized listening to the topics it subscribes to, and an instance of the RobotLocalizationEstimator.

Definition at line 68 of file ros_robot_localization_listener.cpp.

RobotLocalization::RosRobotLocalizationListener::~RosRobotLocalizationListener ( )

Destructor.

Empty destructor

Definition at line 172 of file ros_robot_localization_listener.cpp.

Member Function Documentation

const std::string & RobotLocalization::RosRobotLocalizationListener::getBaseFrameId ( ) const

getBaseFrameId Returns the base frame id of the localization listener

Returns: The base frame id

Definition at line 526 of file ros_robot_localization_listener.cpp.

bool RobotLocalization::RosRobotLocalizationListener::getState	(	const double	time,
		const std::string &	frame_id,
		Eigen::VectorXd &	state,
		Eigen::MatrixXd &	covariance,
		std::string	world_frame_id = `""`
	)		const

Get a state from the localization estimator.

Requests the predicted state and covariance at a given time from the Robot Localization Estimator.

Parameters

[in]	time	- time of the requested state
[in]	frame_id	- frame id of which the state is requested.
[out]	state	- state at the requested time
[out]	covariance	- covariance at the requested time

Returns: false if buffer is empty, true otherwise

Definition at line 313 of file ros_robot_localization_listener.cpp.

bool RobotLocalization::RosRobotLocalizationListener::getState	(	const ros::Time &	ros_time,
		const std::string &	frame_id,
		Eigen::VectorXd &	state,
		Eigen::MatrixXd &	covariance,
		const std::string &	world_frame_id = `""`
	)		const

Get a state from the localization estimator.

Overload of getState method for using ros::Time.

Parameters

[in]	ros_time	- ros time of the requested state
[in]	frame_id	- frame id of which the state is requested.
[out]	state	- state at the requested time
[out]	covariance	- covariance at the requested time

Returns: false if buffer is empty, true otherwise

Definition at line 508 of file ros_robot_localization_listener.cpp.

const std::string & RobotLocalization::RosRobotLocalizationListener::getWorldFrameId ( ) const

getWorldFrameId Returns the world frame id of the localization listener

Returns: The world frame id

Definition at line 531 of file ros_robot_localization_listener.cpp.

void RobotLocalization::RosRobotLocalizationListener::odomAndAccelCallback	(	const nav_msgs::Odometry &	odom,
		const geometry_msgs::AccelWithCovarianceStamped &	accel
	)

private

Callback for odom and accel.

Puts the information from the odom and accel messages in a Robot Localization Estimator state and sets the most recent state of the estimator.

Parameters

[in]	odometry	message
[in]	accel	message

Definition at line 177 of file ros_robot_localization_listener.cpp.

Member Data Documentation

message_filters::Subscriber<geometry_msgs::AccelWithCovarianceStamped> RobotLocalization::RosRobotLocalizationListener::accel_sub_

private

Subscriber to the acceleration state topic (output of a filter node)

Definition at line 146 of file ros_robot_localization_listener.h.

std::string RobotLocalization::RosRobotLocalizationListener::base_frame_id_

private

Child frame id received from the Odometry message.

Definition at line 154 of file ros_robot_localization_listener.h.

RobotLocalizationEstimator* RobotLocalization::RosRobotLocalizationListener::estimator_

private

The core state estimator that facilitates inter- and extrapolation between buffered states.

Definition at line 130 of file ros_robot_localization_listener.h.

ros::NodeHandle RobotLocalization::RosRobotLocalizationListener::nh_

private

A public handle to the ROS node.

Definition at line 134 of file ros_robot_localization_listener.h.

ros::NodeHandle RobotLocalization::RosRobotLocalizationListener::nh_p_

private

A private handle to the ROS node.

Definition at line 138 of file ros_robot_localization_listener.h.

message_filters::Subscriber<nav_msgs::Odometry> RobotLocalization::RosRobotLocalizationListener::odom_sub_

private

Subscriber to the odometry state topic (output of a filter node)

Definition at line 142 of file ros_robot_localization_listener.h.

message_filters::TimeSynchronizer<nav_msgs::Odometry, geometry_msgs::AccelWithCovarianceStamped> RobotLocalization::RosRobotLocalizationListener::sync_

private

Waits for both an Odometry and an Accel message before calling a single callback function.

Definition at line 150 of file ros_robot_localization_listener.h.

tf2_ros::Buffer RobotLocalization::RosRobotLocalizationListener::tf_buffer_

private

Tf buffer for looking up transforms.

Definition at line 162 of file ros_robot_localization_listener.h.

tf2_ros::TransformListener RobotLocalization::RosRobotLocalizationListener::tf_listener_

private

Transform listener to fill the tf_buffer.

Definition at line 166 of file ros_robot_localization_listener.h.

std::string RobotLocalization::RosRobotLocalizationListener::world_frame_id_