TrackOdometryNode Class Reference

Public Member Functions
void	cbTimer (const ros::TimerEvent &event)
void	spin ()
	TrackOdometryNode ()

Private Types
using	SyncPolicy = message_filters::sync_policies::ApproximateTime< nav_msgs::Odometry, sensor_msgs::Imu >

Private Member Functions
void	cbImu (const sensor_msgs::Imu::ConstPtr &msg)
void	cbOdom (const nav_msgs::Odometry::ConstPtr &msg)
void	cbOdomImu (const nav_msgs::Odometry::ConstPtr &odom_msg, const sensor_msgs::Imu::ConstPtr &imu_msg)
void	cbResetZ (const std_msgs::Float32::Ptr &msg)

Private Attributes
std::string	base_link_id_
std::string	base_link_id_overwrite_
bool	debug_
double	dist_
double	gyro_zero_ [3]
bool	has_imu_
bool	has_odom_
sensor_msgs::Imu	imu_
bool	negative_slip_
ros::NodeHandle	nh_
std::string	odom_id_
nav_msgs::Odometry	odom_prev_
nav_msgs::Odometry	odomraw_prev_
ros::NodeHandle	pnh_
double	predict_filter_tc_
ros::Publisher	pub_odom_
bool	publish_tf_
double	sigma_odom_
double	sigma_predict_
track_odometry::KalmanFilter1	slip_
std::shared_ptr< message_filters::Subscriber< sensor_msgs::Imu > >	sub_imu_
ros::Subscriber	sub_imu_raw_
std::shared_ptr< message_filters::Subscriber< nav_msgs::Odometry > >	sub_odom_
ros::Subscriber	sub_reset_z_
std::shared_ptr< message_filters::Synchronizer< SyncPolicy > >	sync_
tf2_ros::TransformBroadcaster	tf_broadcaster_
tf2_ros::Buffer	tf_buffer_
tf2_ros::TransformListener	tf_listener_
double	tf_tolerance_
bool	use_kf_
bool	without_odom_
double	z_filter_timeconst_

Detailed Description

Definition at line 86 of file track_odometry.cpp.

Member Typedef Documentation

using TrackOdometryNode::SyncPolicy = message_filters::sync_policies::ApproximateTime<nav_msgs::Odometry, sensor_msgs::Imu>

private

Definition at line 90 of file track_odometry.cpp.

Constructor & Destructor Documentation

TrackOdometryNode::TrackOdometryNode ( )

inline

Definition at line 295 of file track_odometry.cpp.

Member Function Documentation

void TrackOdometryNode::cbImu ( const sensor_msgs::Imu::ConstPtr &  msg )

inlineprivate

Definition at line 145 of file track_odometry.cpp.

void TrackOdometryNode::cbOdom ( const nav_msgs::Odometry::ConstPtr &  msg )

inlineprivate

Definition at line 207 of file track_odometry.cpp.

void TrackOdometryNode::cbOdomImu ( const nav_msgs::Odometry::ConstPtr &  odom_msg, const sensor_msgs::Imu::ConstPtr &  imu_msg  )

inlineprivate

Definition at line 136 of file track_odometry.cpp.

void TrackOdometryNode::cbResetZ ( const std_msgs::Float32::Ptr &  msg )

inlineprivate

Definition at line 132 of file track_odometry.cpp.

void TrackOdometryNode::cbTimer ( const ros::TimerEvent &  event )

inline

Definition at line 390 of file track_odometry.cpp.

void TrackOdometryNode::spin ( )

inline

Definition at line 399 of file track_odometry.cpp.

Member Data Documentation

std::string TrackOdometryNode::base_link_id_

private

Definition at line 108 of file track_odometry.cpp.

std::string TrackOdometryNode::base_link_id_overwrite_

private

Definition at line 109 of file track_odometry.cpp.

bool TrackOdometryNode::debug_

private

Definition at line 117 of file track_odometry.cpp.

double TrackOdometryNode::dist_

private

Definition at line 123 of file track_odometry.cpp.

double TrackOdometryNode::gyro_zero_[3]

private

Definition at line 113 of file track_odometry.cpp.

bool TrackOdometryNode::has_imu_

private

Definition at line 128 of file track_odometry.cpp.

bool TrackOdometryNode::has_odom_

private

Definition at line 129 of file track_odometry.cpp.

sensor_msgs::Imu TrackOdometryNode::imu_

private

Definition at line 112 of file track_odometry.cpp.

bool TrackOdometryNode::negative_slip_

private

Definition at line 119 of file track_odometry.cpp.

ros::NodeHandle TrackOdometryNode::nh_

private

Definition at line 92 of file track_odometry.cpp.

std::string TrackOdometryNode::odom_id_

private

Definition at line 110 of file track_odometry.cpp.

nav_msgs::Odometry TrackOdometryNode::odom_prev_

private

Definition at line 105 of file track_odometry.cpp.

nav_msgs::Odometry TrackOdometryNode::odomraw_prev_

private

Definition at line 106 of file track_odometry.cpp.

ros::NodeHandle TrackOdometryNode::pnh_

private

Definition at line 93 of file track_odometry.cpp.

double TrackOdometryNode::predict_filter_tc_

private

Definition at line 122 of file track_odometry.cpp.

ros::Publisher TrackOdometryNode::pub_odom_

private

Definition at line 101 of file track_odometry.cpp.

bool TrackOdometryNode::publish_tf_

private

Definition at line 130 of file track_odometry.cpp.

double TrackOdometryNode::sigma_odom_

private

Definition at line 121 of file track_odometry.cpp.

double TrackOdometryNode::sigma_predict_

private

Definition at line 120 of file track_odometry.cpp.

track_odometry::KalmanFilter1 TrackOdometryNode::slip_

private

Definition at line 126 of file track_odometry.cpp.

std::shared_ptr<message_filters::Subscriber<sensor_msgs::Imu> > TrackOdometryNode::sub_imu_

private

Definition at line 97 of file track_odometry.cpp.

ros::Subscriber TrackOdometryNode::sub_imu_raw_

private

Definition at line 95 of file track_odometry.cpp.

std::shared_ptr<message_filters::Subscriber<nav_msgs::Odometry> > TrackOdometryNode::sub_odom_

private

Definition at line 96 of file track_odometry.cpp.

ros::Subscriber TrackOdometryNode::sub_reset_z_

private

Definition at line 100 of file track_odometry.cpp.

std::shared_ptr<message_filters::Synchronizer<SyncPolicy> > TrackOdometryNode::sync_

private

Definition at line 98 of file track_odometry.cpp.

tf2_ros::TransformBroadcaster TrackOdometryNode::tf_broadcaster_

private

Definition at line 104 of file track_odometry.cpp.

tf2_ros::Buffer TrackOdometryNode::tf_buffer_

private

Definition at line 102 of file track_odometry.cpp.

tf2_ros::TransformListener TrackOdometryNode::tf_listener_

private

Definition at line 103 of file track_odometry.cpp.

double TrackOdometryNode::tf_tolerance_

private

Definition at line 115 of file track_odometry.cpp.

bool TrackOdometryNode::use_kf_

private

Definition at line 118 of file track_odometry.cpp.

bool TrackOdometryNode::without_odom_

private

Definition at line 124 of file track_odometry.cpp.

double TrackOdometryNode::z_filter_timeconst_

private

Definition at line 114 of file track_odometry.cpp.

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The documentation for this class was generated from the following file:

• track_odometry.cpp