Class PFLocalizationNode

Defined in File mrpt_localization_node.h

Nested Relationships

Nested Types

Struct PFLocalizationNode::Parameters

Inheritance Relationships

Base Type

public PFLocalization (Class PFLocalization)

Class Documentation

class PFLocalizationNode : public PFLocalization 

ROS Node.

Public Functions

PFLocalizationNode(ros::NodeHandle &n)

virtual ~PFLocalizationNode()

void init()

void loop()

void callbackLaser(const sensor_msgs::LaserScan&)

void callbackBeacon(const mrpt_msgs::ObservationRangeBeacon&)

void callbackRobotPose(const geometry_msgs::PoseWithCovarianceStamped&)

void odometryForCallback(CObservationOdometry::Ptr&, const std_msgs::Header&)

void callbackInitialpose(const geometry_msgs::PoseWithCovarianceStamped&)

void callbackOdometry(const nav_msgs::Odometry&)

void callbackMap(const nav_msgs::OccupancyGrid&)

void updateMap(const nav_msgs::OccupancyGrid&)

void publishTF()

void publishPose()

struct Parameters : public PFLocalization::Parameters 

Public Functions

Parameters(PFLocalizationNode *p)

void callbackParameters(mrpt_localization::MotionConfig &config, uint32_t level)

void update(const unsigned long &loop_count)

Public Members

ros::NodeHandle node

dynamic_reconfigure::Server<mrpt_localization::MotionConfig> reconfigure_server_

dynamic_reconfigure::Server<mrpt_localization::MotionConfig>::CallbackType reconfigure_cb_

double rate

double transform_tolerance: projection into the future added to

double no_update_tolerance

the published tf to extend its validity

maximum time without updating we keep

double no_inputs_tolerance

using filter time instead of Time::now

maximum time without any observation

int parameter_update_skip: we wait before start complaining

int particlecloud_update_skip

int map_update_skip

std::string base_frame_id

std::string odom_frame_id

std::string global_frame_id

bool update_while_stopped

bool update_sensor_pose

bool pose_broadcast

bool tf_broadcast

bool use_map_topic

bool first_map_only

Public Static Attributes

static const int MOTION_MODEL_GAUSSIAN = 0

static const int MOTION_MODEL_THRUN = 1