Classes | Public Member Functions | Private Member Functions | Private Attributes
PFLocalizationNode Class Reference

ROS Node. More...

#include <mrpt_localization_node.h>

Inheritance diagram for PFLocalizationNode:
Inheritance graph
[legend]

List of all members.

Classes

struct  Parameters

Public Member Functions

void callbackInitialpose (const geometry_msgs::PoseWithCovarianceStamped &)
void callbackLaser (const sensor_msgs::LaserScan &)
void init ()
void loop ()
 PFLocalizationNode (ros::NodeHandle &n)
void publishTF ()
void updateMap (const nav_msgs::OccupancyGrid &)
 ~PFLocalizationNode ()

Private Member Functions

bool mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)
Parametersparam ()
void publishMap ()
void publishParticles ()
void update ()
void updateLaserPose (std::string frame_id)
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

ros::ServiceClient clientMap_
std::map< std::string,
mrpt::poses::CPose3D > 
laser_poses_
tf::TransformListener listenerTF_
unsigned long loop_count_
 MRPT_ROS_LOG_MACROS
ros::NodeHandle n_
ros::Publisher pub_map_
ros::Publisher pub_metadata_
ros::Publisher pub_Particles_
nav_msgs::GetMap::Response resp_
ros::ServiceServer service_map_
ros::Subscriber subInitPose_
ros::Subscriber subLaser0_
ros::Subscriber subLaser1_
ros::Subscriber subLaser2_
ros::Subscriber subMap_
tf::TransformBroadcaster tf_broadcaster_

Detailed Description

ROS Node.

Definition at line 46 of file mrpt_localization_node.h.


Constructor & Destructor Documentation

Definition at line 54 of file mrpt_localization_node.cpp.

Definition at line 51 of file mrpt_localization_node.cpp.


Member Function Documentation

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

Definition at line 179 of file mrpt_localization_node.cpp.

Definition at line 108 of file mrpt_localization_node.cpp.

Reimplemented from PFLocalization.

Definition at line 62 of file mrpt_localization_node.cpp.

Definition at line 79 of file mrpt_localization_node.cpp.

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

Definition at line 191 of file mrpt_localization_node.cpp.

Definition at line 58 of file mrpt_localization_node.cpp.

void PFLocalizationNode::publishMap ( ) [private]

Definition at line 198 of file mrpt_localization_node.cpp.

Definition at line 210 of file mrpt_localization_node.cpp.

Definition at line 225 of file mrpt_localization_node.cpp.

void PFLocalizationNode::update ( ) [private]
void PFLocalizationNode::updateLaserPose ( std::string  frame_id) [private]

Definition at line 153 of file mrpt_localization_node.cpp.

Definition at line 186 of file mrpt_localization_node.cpp.

bool PFLocalizationNode::waitForMap ( ) [private, virtual]

Reimplemented from PFLocalization.

Definition at line 142 of file mrpt_localization_node.cpp.

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 91 of file mrpt_localization_node.cpp.


Member Data Documentation

Definition at line 85 of file mrpt_localization_node.h.

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

Definition at line 92 of file mrpt_localization_node.h.

Definition at line 90 of file mrpt_localization_node.h.

unsigned long PFLocalizationNode::loop_count_ [private]

Definition at line 94 of file mrpt_localization_node.h.

Definition at line 47 of file mrpt_localization_node.h.

Definition at line 93 of file mrpt_localization_node.h.

Definition at line 87 of file mrpt_localization_node.h.

Definition at line 88 of file mrpt_localization_node.h.

Definition at line 86 of file mrpt_localization_node.h.

nav_msgs::GetMap::Response PFLocalizationNode::resp_ [private]

Definition at line 101 of file mrpt_localization_node.h.

Definition at line 89 of file mrpt_localization_node.h.

Definition at line 80 of file mrpt_localization_node.h.

Definition at line 81 of file mrpt_localization_node.h.

Definition at line 82 of file mrpt_localization_node.h.

Definition at line 83 of file mrpt_localization_node.h.

Definition at line 84 of file mrpt_localization_node.h.

Definition at line 91 of file mrpt_localization_node.h.


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


mrpt_localization
Author(s):
autogenerated on Tue Aug 5 2014 10:58:12