#include <mrpt_localization_node.h>

Inheritance diagram for PFLocalizationNode:

Classes
struct	Parameters

Public Member Functions
void	callbackBeacon (const mrpt_msgs::ObservationRangeBeacon &)

void	callbackInitialpose (const geometry_msgs::PoseWithCovarianceStamped &)

void	callbackLaser (const sensor_msgs::LaserScan &)

void	callbackMap (const nav_msgs::OccupancyGrid &)

void	callbackOdometry (const nav_msgs::Odometry &)

void	callbackRobotPose (const geometry_msgs::PoseWithCovarianceStamped &)

void	init ()

void	loop ()

void	odometryForCallback (CObservationOdometry::Ptr &, const std_msgs::Header &)

	PFLocalizationNode (ros::NodeHandle &n)

void	publishPose ()
	Publish the current pose of the robot. More...

void	publishTF ()
	Publish map -> odom tf; as the filter provides map -> base, we multiply it by base -> odom. More...

void	updateMap (const nav_msgs::OccupancyGrid &)

virtual	~PFLocalizationNode ()

Public Member Functions inherited from PFLocalization
	PFLocalization (Parameters *parm)

virtual	~PFLocalization ()

Public Member Functions inherited from PFLocalizationCore
void	init ()

void	observation (CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry)

	PFLocalizationCore ()

	~PFLocalizationCore ()

Private Member Functions
bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)

Parameters *	param ()

void	publishMap ()

void	publishParticles ()

void	update ()

void	updateSensorPose (std::string frame_id)

void	useROSLogLevel ()

virtual bool	waitForMap ()

bool	waitForTransform (mrpt::poses::CPose3D &des, const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01))

Private Attributes
std::map< std::string, mrpt::poses::CPose3D >	beacon_poses_

ros::ServiceClient	client_map_

bool	first_map_received_

std::map< std::string, mrpt::poses::CPose3D >	laser_poses_

unsigned long long	loop_count_

ros::NodeHandle	nh_

ros::Publisher	pub_map_

ros::Publisher	pub_metadata_

ros::Publisher	pub_particles_

ros::Publisher	pub_pose_

nav_msgs::GetMap::Response	resp_

ros::ServiceServer	service_map_

ros::Subscriber	sub_init_pose_

ros::Subscriber	sub_map_

ros::Subscriber	sub_odometry_

std::vector< ros::Subscriber >	sub_sensors_

tf2_ros::TransformBroadcaster	tf_broadcaster_

tf2_ros::Buffer	tf_buffer_

tf2_ros::TransformListener	tf_listener_ {tf_buffer_}

ros::Time	time_last_input_

Additional Inherited Members
Public Types inherited from PFLocalizationCore
enum	PFStates { NA, INIT, RUN, IDLE }

Protected Member Functions inherited from PFLocalization
void	configureFilter (const mrpt::config::CConfigFile &_configFile)

void	init ()

void	init3DDebug ()

void	show3DDebug (CSensoryFrame::Ptr _observations)

Protected Attributes inherited from PFLocalization
Parameters *	param_

bool	SCENE3D_FOLLOW_

int	SCENE3D_FREQ_

mrpt::opengl::COpenGLScene	scene_

bool	SHOW_PROGRESS_3D_REAL_TIME_

int	SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS_

mrpt::gui::CDisplayWindow3D::Ptr	win3D_

Protected Attributes inherited from PFLocalizationCore
float	init_PDF_max_x

float	init_PDF_max_y

float	init_PDF_min_x
	any cell More...

float	init_PDF_min_y

bool	init_PDF_mode

int	initial_particle_count_
	number of particles for initialization More...

mrpt::poses::CPosePDFGaussian	initial_pose_
	initial posed used in initializeFilter() More...

CMultiMetricMap::Ptr	metric_map_ = CMultiMetricMap::Create()
	map More...

CActionRobotMovement2D::TMotionModelOptions	motion_model_default_options_
	used if there are is not odom More...

CActionRobotMovement2D::TMotionModelOptions	motion_model_options_
	used with odom value motion noise More...

mrpt::poses::CPose2D	odom_last_observation_
	correct time More...

mrpt::slam::CMonteCarloLocalization2D	pdf_
	the filter More...

mrpt::bayes::CParticleFilter	pf_
	common interface for particle filters More...

mrpt::bayes::CParticleFilter::TParticleFilterStats	pf_stats_
	filter statistics More...

PFStates	state_
	updates More...

mrpt::system::CTicTac	tictac_
	timer to measure performance More...

mrpt::system::TTimeStamp	time_last_update_
	time of the last update More...

size_t	update_counter_

bool	use_motion_model_default_options_
	used default odom_params More...

Detailed Description

ROS Node.

Definition at line 61 of file mrpt_localization_node.h.

Constructor & Destructor Documentation

◆ PFLocalizationNode()

PFLocalizationNode::PFLocalizationNode ( ros::NodeHandle & n )

Definition at line 66 of file mrpt_localization_node.cpp.

◆ ~PFLocalizationNode()

PFLocalizationNode::~PFLocalizationNode ( )

virtual

Definition at line 65 of file mrpt_localization_node.cpp.

Member Function Documentation

◆ callbackBeacon()

void PFLocalizationNode::callbackBeacon ( const mrpt_msgs::ObservationRangeBeacon & _msg )

Definition at line 233 of file mrpt_localization_node.cpp.

◆ callbackInitialpose()

void PFLocalizationNode::callbackInitialpose ( const geometry_msgs::PoseWithCovarianceStamped & _msg )

Definition at line 469 of file mrpt_localization_node.cpp.

◆ callbackLaser()

void PFLocalizationNode::callbackLaser ( const sensor_msgs::LaserScan & _msg )

Definition at line 194 of file mrpt_localization_node.cpp.

◆ callbackMap()

void PFLocalizationNode::callbackMap ( const nav_msgs::OccupancyGrid & msg )

Definition at line 411 of file mrpt_localization_node.cpp.

◆ callbackOdometry()

void PFLocalizationNode::callbackOdometry ( const nav_msgs::Odometry & _msg )

Definition at line 482 of file mrpt_localization_node.cpp.

◆ callbackRobotPose()

void PFLocalizationNode::callbackRobotPose ( const geometry_msgs::PoseWithCovarianceStamped & _msg )

Definition at line 272 of file mrpt_localization_node.cpp.

◆ init()

void PFLocalizationNode::init ( )

Definition at line 79 of file mrpt_localization_node.cpp.

◆ loop()

void PFLocalizationNode::loop ( )

Definition at line 149 of file mrpt_localization_node.cpp.

◆ mapCallback()

bool PFLocalizationNode::mapCallback	(	nav_msgs::GetMap::Request &	req,
		nav_msgs::GetMap::Response &	res
	)

private

Definition at line 514 of file mrpt_localization_node.cpp.

◆ odometryForCallback()

void PFLocalizationNode::odometryForCallback	(	CObservationOdometry::Ptr &	_odometry,
		const std_msgs::Header &	_msg_header
	)

Definition at line 345 of file mrpt_localization_node.cpp.

◆ param()

PFLocalizationNode::Parameters * PFLocalizationNode::param ( )

private

Definition at line 74 of file mrpt_localization_node.cpp.

◆ publishMap()

void PFLocalizationNode::publishMap ( )

private

Definition at line 522 of file mrpt_localization_node.cpp.

◆ publishParticles()

void PFLocalizationNode::publishParticles ( )

private

Definition at line 537 of file mrpt_localization_node.cpp.

◆ publishPose()

void PFLocalizationNode::publishPose ( )

Publish the current pose of the robot.

Definition at line 660 of file mrpt_localization_node.cpp.

◆ publishTF()

void PFLocalizationNode::publishTF ( )

Publish map -> odom tf; as the filter provides map -> base, we multiply it by base -> odom.

Definition at line 560 of file mrpt_localization_node.cpp.

◆ update()

void PFLocalizationNode::update ( )

private

◆ updateMap()

void PFLocalizationNode::updateMap ( const nav_msgs::OccupancyGrid & _msg )

Definition at line 507 of file mrpt_localization_node.cpp.

◆ updateSensorPose()

void PFLocalizationNode::updateSensorPose ( std::string frame_id )

private

Definition at line 424 of file mrpt_localization_node.cpp.

◆ useROSLogLevel()

void PFLocalizationNode::useROSLogLevel ( )

private

Definition at line 701 of file mrpt_localization_node.cpp.

◆ waitForMap()

bool PFLocalizationNode::waitForMap ( )

privatevirtual

Reimplemented from PFLocalization.

Definition at line 365 of file mrpt_localization_node.cpp.

◆ waitForTransform()

bool PFLocalizationNode::waitForTransform	(	mrpt::poses::CPose3D &	des,
		const std::string &	target_frame,
		const std::string &	source_frame,
		const ros::Time &	time,
		const ros::Duration &	timeout,
		const ros::Duration &	polling_sleep_duration = `ros::Duration(0.01)`
	)

private

Definition at line 169 of file mrpt_localization_node.cpp.

Member Data Documentation

◆ beacon_poses_

std::map<std::string, mrpt::poses::CPose3D> PFLocalizationNode::beacon_poses_

private

Definition at line 142 of file mrpt_localization_node.h.

◆ client_map_

ros::ServiceClient PFLocalizationNode::client_map_

private

Definition at line 129 of file mrpt_localization_node.h.

◆ first_map_received_

bool PFLocalizationNode::first_map_received_

private

Definition at line 121 of file mrpt_localization_node.h.

◆ laser_poses_

std::map<std::string, mrpt::poses::CPose3D> PFLocalizationNode::laser_poses_

private

Definition at line 141 of file mrpt_localization_node.h.

◆ loop_count_

unsigned long long PFLocalizationNode::loop_count_

private

Definition at line 123 of file mrpt_localization_node.h.

◆ nh_

ros::NodeHandle PFLocalizationNode::nh_

private

Definition at line 120 of file mrpt_localization_node.h.

◆ pub_map_

ros::Publisher PFLocalizationNode::pub_map_

private

Definition at line 131 of file mrpt_localization_node.h.

◆ pub_metadata_

ros::Publisher PFLocalizationNode::pub_metadata_

private

Definition at line 132 of file mrpt_localization_node.h.

◆ pub_particles_

ros::Publisher PFLocalizationNode::pub_particles_

private

Definition at line 130 of file mrpt_localization_node.h.

◆ pub_pose_

ros::Publisher PFLocalizationNode::pub_pose_

private

Definition at line 133 of file mrpt_localization_node.h.

◆ resp_

nav_msgs::GetMap::Response PFLocalizationNode::resp_

private

Definition at line 124 of file mrpt_localization_node.h.

◆ service_map_

ros::ServiceServer PFLocalizationNode::service_map_

private

Definition at line 134 of file mrpt_localization_node.h.

◆ sub_init_pose_

ros::Subscriber PFLocalizationNode::sub_init_pose_

private

Definition at line 125 of file mrpt_localization_node.h.

◆ sub_map_

ros::Subscriber PFLocalizationNode::sub_map_

private

Definition at line 128 of file mrpt_localization_node.h.

◆ sub_odometry_

ros::Subscriber PFLocalizationNode::sub_odometry_

private

Definition at line 126 of file mrpt_localization_node.h.

◆ sub_sensors_

std::vector<ros::Subscriber> PFLocalizationNode::sub_sensors_

private

Definition at line 127 of file mrpt_localization_node.h.

◆ tf_broadcaster_

tf2_ros::TransformBroadcaster PFLocalizationNode::tf_broadcaster_

private

Definition at line 139 of file mrpt_localization_node.h.

◆ tf_buffer_

tf2_ros::Buffer PFLocalizationNode::tf_buffer_

private

Definition at line 136 of file mrpt_localization_node.h.

◆ tf_listener_

tf2_ros::TransformListener PFLocalizationNode::tf_listener_ {tf_buffer_}

private

Definition at line 137 of file mrpt_localization_node.h.

◆ time_last_input_

ros::Time PFLocalizationNode::time_last_input_

private

Definition at line 122 of file mrpt_localization_node.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PFLocalizationNode()

◆ ~PFLocalizationNode()

Member Function Documentation

◆ callbackBeacon()

◆ callbackInitialpose()

◆ callbackLaser()

◆ callbackMap()

◆ callbackOdometry()

◆ callbackRobotPose()

◆ init()

◆ loop()

◆ mapCallback()

◆ odometryForCallback()

◆ param()

◆ publishMap()

◆ publishParticles()

◆ publishPose()

◆ publishTF()

◆ update()

◆ updateMap()

◆ updateSensorPose()

◆ useROSLogLevel()

◆ waitForMap()

◆ waitForTransform()

Member Data Documentation

◆ beacon_poses_

◆ client_map_

◆ first_map_received_

◆ laser_poses_

◆ loop_count_

◆ nh_

◆ pub_map_

◆ pub_metadata_

◆ pub_particles_

◆ pub_pose_

◆ resp_

◆ service_map_

◆ sub_init_pose_

◆ sub_map_

◆ sub_odometry_

◆ sub_sensors_

◆ tf_broadcaster_

◆ tf_buffer_

◆ tf_listener_

◆ time_last_input_