Definition at line 132 of file amcl_node.cpp.
◆ AmclNode()
◆ ~AmclNode()
◆ applyInitialPose()
void AmclNode::applyInitialPose |
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If initial_pose_hyp_ and map_ are both non-null, apply the initial pose to the particle filter state. initial_pose_hyp_ is deleted and set to NULL after it is used.
Definition at line 1622 of file amcl_node.cpp.
◆ checkLaserReceived()
◆ convertMap()
map_t * AmclNode::convertMap |
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const nav_msgs::OccupancyGrid & |
map_msg | ) |
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Convert an OccupancyGrid map message into the internal representation. This allocates a map_t and returns it.
Definition at line 988 of file amcl_node.cpp.
◆ freeMapDependentMemory()
void AmclNode::freeMapDependentMemory |
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◆ getOdomPose()
bool AmclNode::getOdomPose |
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geometry_msgs::PoseStamped & |
pose, |
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double & |
x, |
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double & |
y, |
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double & |
yaw, |
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const ros::Time & |
t, |
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const std::string & |
f |
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◆ globalLocalizationCallback()
bool AmclNode::globalLocalizationCallback |
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std_srvs::Empty::Request & |
req, |
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std_srvs::Empty::Response & |
res |
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◆ handleInitialPoseMessage()
void AmclNode::handleInitialPoseMessage |
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const geometry_msgs::PoseWithCovarianceStamped & |
msg | ) |
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◆ handleMapMessage()
void AmclNode::handleMapMessage |
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const nav_msgs::OccupancyGrid & |
msg | ) |
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◆ initialPoseReceived()
void AmclNode::initialPoseReceived |
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const geometry_msgs::PoseWithCovarianceStampedConstPtr & |
msg | ) |
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◆ laserReceived()
void AmclNode::laserReceived |
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const sensor_msgs::LaserScanConstPtr & |
laser_scan | ) |
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◆ mapReceived()
void AmclNode::mapReceived |
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const nav_msgs::OccupancyGridConstPtr & |
msg | ) |
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◆ nomotionUpdateCallback()
bool AmclNode::nomotionUpdateCallback |
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std_srvs::Empty::Request & |
req, |
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std_srvs::Empty::Response & |
res |
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◆ process()
int AmclNode::process |
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◆ reconfigureCB()
void AmclNode::reconfigureCB |
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amcl::AMCLConfig & |
config, |
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uint32_t |
level |
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◆ requestMap()
void AmclNode::requestMap |
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◆ runFromBag()
void AmclNode::runFromBag |
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const std::string & |
in_bag_fn, |
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bool |
trigger_global_localization = false |
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Uses TF and LaserScan messages from bag file to drive AMCL instead.
- Parameters
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in_bag_fn | input bagfile |
trigger_global_localization | whether to trigger global localization before starting to process the bagfile |
Definition at line 676 of file amcl_node.cpp.
◆ savePoseToServer()
void AmclNode::savePoseToServer |
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◆ setMapCallback()
bool AmclNode::setMapCallback |
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nav_msgs::SetMap::Request & |
req, |
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nav_msgs::SetMap::Response & |
res |
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◆ standardDeviationDiagnostics()
◆ uniformPoseGenerator()
pf_vector_t AmclNode::uniformPoseGenerator |
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void * |
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◆ updatePoseFromServer()
void AmclNode::updatePoseFromServer |
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◆ a_thresh_
double AmclNode::a_thresh_ |
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◆ alpha1_
◆ alpha2_
◆ alpha3_
◆ alpha4_
◆ alpha5_
◆ alpha_fast_
double AmclNode::alpha_fast_ |
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◆ alpha_slow_
double AmclNode::alpha_slow_ |
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◆ bag_scan_period_
◆ base_frame_id_
std::string AmclNode::base_frame_id_ |
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◆ beam_skip_distance_
double AmclNode::beam_skip_distance_ |
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◆ beam_skip_error_threshold_
double AmclNode::beam_skip_error_threshold_ |
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◆ beam_skip_threshold_
double AmclNode::beam_skip_threshold_ |
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◆ check_laser_timer_
◆ cloud_pub_interval
◆ configuration_mutex_
boost::recursive_mutex AmclNode::configuration_mutex_ |
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◆ d_thresh_
double AmclNode::d_thresh_ |
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◆ default_config_
amcl::AMCLConfig AmclNode::default_config_ |
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◆ diagnosic_updater_
◆ do_beamskip_
bool AmclNode::do_beamskip_ |
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◆ dsrv_
dynamic_reconfigure::Server<amcl::AMCLConfig>* AmclNode::dsrv_ |
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◆ first_map_only_
bool AmclNode::first_map_only_ |
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◆ first_map_received_
bool AmclNode::first_map_received_ |
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◆ first_reconfigure_call_
bool AmclNode::first_reconfigure_call_ |
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◆ force_update_after_initialpose_
bool AmclNode::force_update_after_initialpose_ |
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◆ force_update_after_set_map_
bool AmclNode::force_update_after_set_map_ |
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◆ frame_to_laser_
std::map< std::string, int > AmclNode::frame_to_laser_ |
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◆ free_space_indices
std::vector< std::pair< int, int > > AmclNode::free_space_indices |
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◆ global_frame_id_
std::string AmclNode::global_frame_id_ |
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◆ global_loc_srv_
◆ gui_publish_period
◆ init_cov_
double AmclNode::init_cov_[3] |
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◆ init_pose_
double AmclNode::init_pose_[3] |
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◆ initial_pose_hyp_
◆ initial_pose_sub_
◆ initial_pose_sub_old_
◆ lambda_short_
double AmclNode::lambda_short_ |
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◆ laser_
◆ laser_check_interval_
◆ laser_likelihood_max_dist_
double AmclNode::laser_likelihood_max_dist_ |
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◆ laser_max_range_
double AmclNode::laser_max_range_ |
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◆ laser_min_range_
double AmclNode::laser_min_range_ |
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◆ laser_model_type_
◆ laser_scan_filter_
◆ laser_scan_sub_
◆ lasers_
◆ lasers_update_
std::vector< bool > AmclNode::lasers_update_ |
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◆ last_cloud_pub_time
◆ last_laser_received_ts_
◆ last_published_pose
geometry_msgs::PoseWithCovarianceStamped AmclNode::last_published_pose |
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◆ latest_odom_pose_
geometry_msgs::PoseStamped AmclNode::latest_odom_pose_ |
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◆ latest_tf_
◆ latest_tf_valid_
bool AmclNode::latest_tf_valid_ |
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◆ m_force_update
bool AmclNode::m_force_update |
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◆ map_
◆ map_sub_
◆ mapdata
◆ max_beams_
◆ max_particles_
int AmclNode::max_particles_ |
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◆ min_particles_
int AmclNode::min_particles_ |
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◆ nh_
◆ nomotion_update_srv_
◆ odom_
◆ odom_frame_id_
std::string AmclNode::odom_frame_id_ |
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◆ odom_model_type_
◆ particlecloud_pub_
◆ pf_
◆ pf_err_
◆ pf_init_
◆ pf_odom_pose_
◆ pf_z_
◆ pose_pub_
◆ private_nh_
◆ resample_count_
int AmclNode::resample_count_ |
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◆ resample_interval_
int AmclNode::resample_interval_ |
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◆ resolution
double AmclNode::resolution |
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◆ save_pose_last_time
◆ save_pose_period
◆ selective_resampling_
bool AmclNode::selective_resampling_ |
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◆ sent_first_transform_
bool AmclNode::sent_first_transform_ |
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◆ set_map_srv_
◆ sigma_hit_
double AmclNode::sigma_hit_ |
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◆ std_warn_level_x_
double AmclNode::std_warn_level_x_ |
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◆ std_warn_level_y_
double AmclNode::std_warn_level_y_ |
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◆ std_warn_level_yaw_
double AmclNode::std_warn_level_yaw_ |
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◆ sx
◆ sy
◆ tf_
◆ tf_broadcast_
bool AmclNode::tf_broadcast_ |
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◆ tfb_
◆ tfl_
◆ transform_tolerance_
◆ use_map_topic_
bool AmclNode::use_map_topic_ |
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◆ z_hit_
◆ z_max_
◆ z_rand_
◆ z_short_
double AmclNode::z_short_ |
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The documentation for this class was generated from the following file: