Class SensorBridge

Defined in File sensor_bridge.h

Class Documentation

class SensorBridge

Public Functions

explicit SensorBridge(int num_subdivisions_per_laser_scan, const std::string &tracking_frame, double lookup_transform_timeout_sec, tf2_ros::Buffer *tf_buffer, ::cartographer::mapping::TrajectoryBuilderInterface *trajectory_builder)

SensorBridge(const SensorBridge&) = delete

SensorBridge &operator=(const SensorBridge&) = delete

std::unique_ptr<::cartographer::sensor::OdometryData> ToOdometryData(const nav_msgs::msg::Odometry::ConstSharedPtr &msg)

void HandleOdometryMessage(const std::string &sensor_id, const nav_msgs::msg::Odometry::ConstSharedPtr &msg)

void HandleNavSatFixMessage(const std::string &sensor_id, const sensor_msgs::msg::NavSatFix::ConstSharedPtr &msg)

void HandleLandmarkMessage(const std::string &sensor_id, const cartographer_ros_msgs::msg::LandmarkList::ConstSharedPtr &msg)

std::unique_ptr<::cartographer::sensor::ImuData> ToImuData(const sensor_msgs::msg::Imu::ConstSharedPtr &msg)

void HandleImuMessage(const std::string &sensor_id, const sensor_msgs::msg::Imu::ConstSharedPtr &msg)

void HandleLaserScanMessage(const std::string &sensor_id, const sensor_msgs::msg::LaserScan::ConstSharedPtr &msg)

void HandleMultiEchoLaserScanMessage(const std::string &sensor_id, const sensor_msgs::msg::MultiEchoLaserScan::ConstSharedPtr &msg)

void HandlePointCloud2Message(const std::string &sensor_id, const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg)

const TfBridge &tf_bridge() const