Public Member Functions | Private Member Functions | Private Attributes | List of all members
mavros::std_plugins::LocalPositionPlugin Class Reference

Local position plugin. Publish local position to TF, PositionStamped, TwistStamped and Odometry. More...

Inheritance diagram for mavros::std_plugins::LocalPositionPlugin:
Inheritance graph

Public Member Functions

Subscriptions get_subscriptions ()
 Return vector of MAVLink message subscriptions (handlers) More...
void initialize (UAS &uas_)
 Plugin initializer. More...
 LocalPositionPlugin ()
- Public Member Functions inherited from mavros::plugin::PluginBase
virtual ~PluginBase ()

Private Member Functions

void handle_local_position_ned (const mavlink::mavlink_message_t *msg, mavlink::common::msg::LOCAL_POSITION_NED &pos_ned)
void handle_local_position_ned_cov (const mavlink::mavlink_message_t *msg, mavlink::common::msg::LOCAL_POSITION_NED_COV &pos_ned)
void publish_tf (boost::shared_ptr< nav_msgs::Odometry > &odom)

Private Attributes

std::string frame_id
 frame for Pose More...
bool has_local_position_ned
bool has_local_position_ned_cov
ros::Publisher local_accel
ros::Publisher local_odom
ros::Publisher local_position
ros::Publisher local_position_cov
ros::Publisher local_velocity_body
ros::Publisher local_velocity_cov
ros::Publisher local_velocity_local
ros::NodeHandle lp_nh
std::string tf_child_frame_id
 frame for TF More...
std::string tf_frame_id
 origin for TF More...
bool tf_send

Additional Inherited Members

- Public Types inherited from mavros::plugin::PluginBase
using ConstPtr = boost::shared_ptr< PluginBase const >
using HandlerCb = mavconn::MAVConnInterface::ReceivedCb
 generic message handler callback More...
using HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb >
 Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More...
using Ptr = boost::shared_ptr< PluginBase >
using Subscriptions = std::vector< HandlerInfo >
 Subscriptions vector. More...
- Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void connection_cb (bool connected)
void enable_connection_cb ()
template<class _C >
HandlerInfo make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
template<class _C , class _T >
HandlerInfo make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
 PluginBase ()
 Plugin constructor Should not do anything before initialize() More...
- Protected Attributes inherited from mavros::plugin::PluginBase

Detailed Description

Local position plugin. Publish local position to TF, PositionStamped, TwistStamped and Odometry.

Definition at line 38 of file local_position.cpp.

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

Author(s): Vladimir Ermakov
autogenerated on Mon Jul 8 2019 03:20:11