Inheritance diagram for PFLocalizationNode:

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)
Parameters *	param ()
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

PFLocalizationNode::PFLocalizationNode ( ros::NodeHandle & n )

Definition at line 53 of file mrpt_localization_node.cpp.

PFLocalizationNode::~PFLocalizationNode ( )

Definition at line 50 of file mrpt_localization_node.cpp.

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

void PFLocalizationNode::callbackLaser ( const sensor_msgs::LaserScan & _msg )

void PFLocalizationNode::init ( )

initilizes the parameter with common values to acive a working filter out of the box

Reimplemented from PFLocalization.

Definition at line 61 of file mrpt_localization_node.cpp.

void PFLocalizationNode::loop ( )

Definition at line 79 of file mrpt_localization_node.cpp.

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

PFLocalizationNode::Parameters * PFLocalizationNode::param ( ) [private]

Definition at line 57 of file mrpt_localization_node.cpp.

void PFLocalizationNode::publishMap ( ) [private]

void PFLocalizationNode::publishParticles ( ) [private]

void PFLocalizationNode::publishTF ( )

void PFLocalizationNode::update ( ) [private]

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

void PFLocalizationNode::updateMap ( const nav_msgs::OccupancyGrid & _msg )

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

Reimplemented from PFLocalization.

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]`