Public Member Functions | Private Member Functions | Private Attributes | List of all members
mavros::extra_plugins::OdometryPlugin Class Reference

Odometry plugin. More...

Inheritance diagram for mavros::extra_plugins::OdometryPlugin:
Inheritance graph

Public Member Functions

Subscriptions get_subscriptions ()
void initialize (UAS &uas_)
- Public Member Functions inherited from mavros::plugin::PluginBase
virtual ~PluginBase ()

Private Member Functions

void handle_odom (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ODOMETRY &odom_msg)
 Handle ODOMETRY MAVlink message. More...
void odom_cb (const nav_msgs::Odometry::ConstPtr &odom)
 Sends odometry data msgs to the FCU. More...
void transform_lookup (const std::string &frame_id, const std::string &child_frame_id, const std::string &local_frame_orientation, const std::string &body_frame_orientation, Eigen::Affine3d &tf_parent2local, Eigen::Affine3d &tf_child2local, Eigen::Affine3d &tf_parent2body, Eigen::Affine3d &tf_child2body)
 Lookup transforms. More...

Private Attributes

 body frame (pose) ID More...
std::string body_frame_orientation_in_desired
 orientation of the body frame (input data) More...
std::string body_frame_orientation_out_desired
 orientation of the body frame (output data) More...
std::string child_frame_id
 child frame identifier More...
std::string frame_id
 parent frame identifier More...
 local frame (pose) ID More...
std::string local_frame_in
 orientation and source of the input local frame More...
std::string local_frame_orientation_in
 orientation of the local frame (input data) More...
std::string local_frame_orientation_out
 orientation of the local frame (output data) More...
std::string local_frame_out
 orientation and source of the output local frame More...
ros::NodeHandle odom_nh
 node handler More...
ros::Publisher odom_pub
 nav_msgs/Odometry publisher More...
ros::Subscriber odom_sub
 nav_msgs/Odometry subscriber More...

Additional Inherited Members

- Public Types inherited from mavros::plugin::PluginBase
typedef boost::shared_ptr< PluginBase const > ConstPtr
typedef mavconn::MAVConnInterface::ReceivedCb HandlerCb
typedef std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCbHandlerInfo
typedef boost::shared_ptr< PluginBasePtr
typedef std::vector< HandlerInfoSubscriptions
- Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void connection_cb (bool connected)
void enable_connection_cb ()
HandlerInfo make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
HandlerInfo make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
 PluginBase ()
- Protected Attributes inherited from mavros::plugin::PluginBase

Detailed Description

Odometry plugin.

Sends odometry data to the FCU position and attitude estimators.

See also

Definition at line 37 of file odom.cpp.

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

Author(s): Vladimir Ermakov
autogenerated on Mon Jul 8 2019 03:20:18