#include <gyro_bias_remover.h>

Inheritance diagram for cras::GyroBiasRemoverNodelet:

[legend]

Protected Member Functions
void	estimateBias (const sensor_msgs::Imu &msg)

void	onImuMsg (const sensor_msgs::ImuConstPtr &msg)

void	onInit () override

void	onOdomMsg (const nav_msgs::OdometryConstPtr &msg)

void	onReset (const topic_tools::ShapeShifter &)

void	produceDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	reportBiasChange ()

void	reset ()

void	speak (const std::string &message, ros::console::levels::Level level)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (ros::AdvertiseOptions &options)

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, ""),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace)

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate)

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate, const ::ros::Rate &defaultMinRate, const ::ros::Rate &defaultMaxRate)

::ros::NodeHandle	getDefaultDiagNh (const ::ros::NodeHandle &pubSubNh, const ::std::string &diagNamespace)

::cras::BoundParamHelperPtr	getDiagParams (const ::ros::NodeHandle &nh, const ::std::string &diagNamespace, const ::std::string &topic)

::cras::DiagnosticUpdater &	getDiagUpdater (bool forceNew=false) const

void	startDiagTimer () const

void	startDiagTimer (const ::ros::NodeHandle &nh) const

void	stopDiagTimer () const

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::SubscribeOptions &options)

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(const ::boost::shared_ptr< Message > &)> &cb, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< C >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(C)> &cb, ::ros::VoidConstPtr obj={}, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(*cb)(M), ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M) const, const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M) const, T obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M), const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M), T obj, ::ros::TransportHints hints={})

Protected Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
void	updateThreadName () const

Protected Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

::cras::BoundParamHelperPtr	params (const ::ros::NodeHandle &node, const ::std::string &ns="") const

::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node) const

::cras::BoundParamHelperPtr	privateParams (const ::std::string &ns="") const

::cras::BoundParamHelperPtr	publicParams (const ::std::string &ns="") const

Private Attributes
ros::Publisher	biasPub

ros::Time	calibrationStartedTime

double	cmdVelThreshold {0}

geometry_msgs::Vector3Stamped	gyroBias

double	gyroBiasEstimationRate {0.01}

double	gyroThreshold {0}

bool	hasOdomMsg {false}

std::unique_ptr< cras::DiagnosedPublisher< sensor_msgs::Imu > >	imuPub

ros::Subscriber	imuSub

ros::Duration	initialCalibrationDuration

ros::Subscriber	isMovingSub

ros::Time	lastNotMovingTime

ros::Time	lastReceiveTime

size_t	minCalibrationSamples {1000}

ros::Duration	notMovingDuration

ros::Duration	notMovingDurationThreshold

size_t	numCalibrationSamples {0}

ros::Subscriber	resetSub

bool	shouldProduceDiagnostics {true}

bool	skipCalibration {false}

ros::Publisher	speakErrPub

ros::Publisher	speakInfoPub

ros::Publisher	speakWarnPub

BiasObserverState	state {BiasObserverState::INITIAL_CALIBRATION}

geometry_msgs::Twist	stopCommand

ros::Publisher	stopCommandPub

std_msgs::Bool	stopLockMsg

ros::Publisher	stopLockPub

std_msgs::Bool	stopUnlockMsg

Additional Inherited Members
Public Member Functions inherited from cras::Nodelet
	~Nodelet () override=default

Public Member Functions inherited from NodeletBase<::nodelet::Nodelet >
	~NodeletBase () override=default

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

Public Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
	NodeletWithDiagnostics ()

virtual	~NodeletWithDiagnostics ()

Public Member Functions inherited from NodeletWithSharedTfBuffer< ::nodelet::Nodelet >
::cras::NodeletAwareTFBuffer &	getBuffer () const override

	NodeletWithSharedTfBuffer ()

void	setBuffer (const ::std::shared_ptr<::tf2_ros::Buffer > &buffer) override

bool	usesSharedBuffer () const override

virtual	~NodeletWithSharedTfBuffer ()

Public Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
	~ThreadNameUpdatingNodelet () override

Public Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
	NodeletParamHelper ()

	~NodeletParamHelper () override

Public Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

	ParamHelper (const ::cras::LogHelperPtr &log)

void	setLogger (const ::cras::LogHelperPtr &logger)

virtual	~ParamHelper ()=default

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Public Member Functions inherited from StatefulNodelet< ::nodelet::Nodelet >
bool	ok () const override

void	requestStop () override

void	shutdown ()

virtual	~StatefulNodelet ()

Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const

virtual	~InterruptibleSleepInterface ()

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration

Detailed Description

Definition at line 36 of file gyro_bias_remover.h.

Member Function Documentation

◆ estimateBias()

void cras::GyroBiasRemoverNodelet::estimateBias ( const sensor_msgs::Imu & msg )

protected

Definition at line 139 of file gyro_bias_remover.cpp.

◆ onImuMsg()

void cras::GyroBiasRemoverNodelet::onImuMsg ( const sensor_msgs::ImuConstPtr & msg )

protected

Definition at line 66 of file gyro_bias_remover.cpp.

◆ onInit()

void cras::GyroBiasRemoverNodelet::onInit ( )

overrideprotectedvirtual

Implements nodelet::Nodelet.

Definition at line 22 of file gyro_bias_remover.cpp.

◆ onOdomMsg()

void cras::GyroBiasRemoverNodelet::onOdomMsg ( const nav_msgs::OdometryConstPtr & msg )

protected

Definition at line 88 of file gyro_bias_remover.cpp.

◆ onReset()

void cras::GyroBiasRemoverNodelet::onReset ( const topic_tools::ShapeShifter & )

protected

Definition at line 221 of file gyro_bias_remover.cpp.

◆ produceDiagnostics()

void cras::GyroBiasRemoverNodelet::produceDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

protected

Definition at line 226 of file gyro_bias_remover.cpp.

◆ reportBiasChange()

void cras::GyroBiasRemoverNodelet::reportBiasChange ( )

protected

Definition at line 256 of file gyro_bias_remover.cpp.

◆ reset()

void cras::GyroBiasRemoverNodelet::reset ( )

protected

Definition at line 208 of file gyro_bias_remover.cpp.

◆ speak()

void cras::GyroBiasRemoverNodelet::speak	(	const std::string &	message,
		ros::console::levels::Level	level
	)

protected

Definition at line 262 of file gyro_bias_remover.cpp.

Member Data Documentation

◆ biasPub

ros::Publisher cras::GyroBiasRemoverNodelet::biasPub

private

Definition at line 55 of file gyro_bias_remover.h.

◆ calibrationStartedTime

ros::Time cras::GyroBiasRemoverNodelet::calibrationStartedTime

private

Definition at line 86 of file gyro_bias_remover.h.

◆ cmdVelThreshold

double cras::GyroBiasRemoverNodelet::cmdVelThreshold {0}

private

Definition at line 79 of file gyro_bias_remover.h.

◆ gyroBias

geometry_msgs::Vector3Stamped cras::GyroBiasRemoverNodelet::gyroBias

private

Definition at line 65 of file gyro_bias_remover.h.

◆ gyroBiasEstimationRate

double cras::GyroBiasRemoverNodelet::gyroBiasEstimationRate {0.01}

private

Definition at line 74 of file gyro_bias_remover.h.

◆ gyroThreshold

double cras::GyroBiasRemoverNodelet::gyroThreshold {0}

private

Definition at line 78 of file gyro_bias_remover.h.

◆ hasOdomMsg

bool cras::GyroBiasRemoverNodelet::hasOdomMsg {false}

private

Definition at line 87 of file gyro_bias_remover.h.

◆ imuPub

std::unique_ptr<cras::DiagnosedPublisher<sensor_msgs::Imu> > cras::GyroBiasRemoverNodelet::imuPub

private

Definition at line 54 of file gyro_bias_remover.h.

◆ imuSub

ros::Subscriber cras::GyroBiasRemoverNodelet::imuSub

private

Definition at line 61 of file gyro_bias_remover.h.

◆ initialCalibrationDuration

ros::Duration cras::GyroBiasRemoverNodelet::initialCalibrationDuration

private

Definition at line 72 of file gyro_bias_remover.h.

◆ isMovingSub

ros::Subscriber cras::GyroBiasRemoverNodelet::isMovingSub

private

Definition at line 62 of file gyro_bias_remover.h.

◆ lastNotMovingTime

ros::Time cras::GyroBiasRemoverNodelet::lastNotMovingTime

private

Definition at line 83 of file gyro_bias_remover.h.

◆ lastReceiveTime

ros::Time cras::GyroBiasRemoverNodelet::lastReceiveTime

private

Definition at line 84 of file gyro_bias_remover.h.

◆ minCalibrationSamples

size_t cras::GyroBiasRemoverNodelet::minCalibrationSamples {1000}

private

Definition at line 73 of file gyro_bias_remover.h.

◆ notMovingDuration

ros::Duration cras::GyroBiasRemoverNodelet::notMovingDuration

private

Definition at line 82 of file gyro_bias_remover.h.

◆ notMovingDurationThreshold

ros::Duration cras::GyroBiasRemoverNodelet::notMovingDurationThreshold

private

Definition at line 80 of file gyro_bias_remover.h.

◆ numCalibrationSamples

size_t cras::GyroBiasRemoverNodelet::numCalibrationSamples {0}

private

Definition at line 85 of file gyro_bias_remover.h.

◆ resetSub

ros::Subscriber cras::GyroBiasRemoverNodelet::resetSub

private

Definition at line 63 of file gyro_bias_remover.h.

◆ shouldProduceDiagnostics

bool cras::GyroBiasRemoverNodelet::shouldProduceDiagnostics {true}

private

Definition at line 76 of file gyro_bias_remover.h.

◆ skipCalibration

bool cras::GyroBiasRemoverNodelet::skipCalibration {false}

private

Definition at line 75 of file gyro_bias_remover.h.

◆ speakErrPub

ros::Publisher cras::GyroBiasRemoverNodelet::speakErrPub

private

Definition at line 58 of file gyro_bias_remover.h.

◆ speakInfoPub

ros::Publisher cras::GyroBiasRemoverNodelet::speakInfoPub

private

Definition at line 56 of file gyro_bias_remover.h.

◆ speakWarnPub

ros::Publisher cras::GyroBiasRemoverNodelet::speakWarnPub

private

Definition at line 57 of file gyro_bias_remover.h.

◆ state

BiasObserverState cras::GyroBiasRemoverNodelet::state {BiasObserverState::INITIAL_CALIBRATION}

private

Definition at line 70 of file gyro_bias_remover.h.

◆ stopCommand

geometry_msgs::Twist cras::GyroBiasRemoverNodelet::stopCommand

private

Definition at line 66 of file gyro_bias_remover.h.

◆ stopCommandPub

ros::Publisher cras::GyroBiasRemoverNodelet::stopCommandPub

private

Definition at line 59 of file gyro_bias_remover.h.

◆ stopLockMsg

std_msgs::Bool cras::GyroBiasRemoverNodelet::stopLockMsg

private

Definition at line 67 of file gyro_bias_remover.h.

◆ stopLockPub

ros::Publisher cras::GyroBiasRemoverNodelet::stopLockPub

private

Definition at line 60 of file gyro_bias_remover.h.

◆ stopUnlockMsg

std_msgs::Bool cras::GyroBiasRemoverNodelet::stopUnlockMsg

private

Definition at line 68 of file gyro_bias_remover.h.

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

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ estimateBias()

◆ onImuMsg()

◆ onInit()

◆ onOdomMsg()

◆ onReset()

◆ produceDiagnostics()

◆ reportBiasChange()

◆ reset()

◆ speak()

Member Data Documentation

◆ biasPub

◆ calibrationStartedTime

◆ cmdVelThreshold

◆ gyroBias

◆ gyroBiasEstimationRate

◆ gyroThreshold

◆ hasOdomMsg

◆ imuPub

◆ imuSub

◆ initialCalibrationDuration

◆ isMovingSub

◆ lastNotMovingTime

◆ lastReceiveTime

◆ minCalibrationSamples

◆ notMovingDuration

◆ notMovingDurationThreshold

◆ numCalibrationSamples

◆ resetSub

◆ shouldProduceDiagnostics

◆ skipCalibration

◆ speakErrPub

◆ speakInfoPub

◆ speakWarnPub

◆ state

◆ stopCommand

◆ stopCommandPub

◆ stopLockMsg

◆ stopLockPub

◆ stopUnlockMsg