Class LocatorNode

Inheritance Relationships

Base Type

  • public nav2_util::LifecycleNode

Class Documentation

class LocatorNode : public nav2_util::LifecycleNode

Public Functions

explicit LocatorNode(const std::string &node_name)

Protected Functions

nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override
nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override
nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override
nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override
void poseCallback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr pose)

Protected Attributes

std::atomic<bool> active_ = {false}
rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_sub_
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr serviceClientStartLocalization_
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr serviceClientStopLocalization_
std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_
std::shared_ptr<tf2_ros::TransformListener> tf_listener_
std::shared_ptr<tf2_ros::Buffer> tf_buffer_
tf2::Transform odom_to_map_
std::string base_frame_id_
std::string global_frame_id_
std::string odom_frame_id_
std::string pose_topic_
tf2::Duration transform_tolerance_