Class CompassTransformerNodelet

• Defined in File compass_transformer.hpp

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class CompassTransformerNodelet : public rclcpp::Node

Public Functions

explicit CompassTransformerNodelet(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

~CompassTransformerNodelet() override

void init()

void setBuffer(tf2_ros::Buffer::SharedPtr buffer, bool using_dedicated_thread)

Protected Functions

void publish(const compass_interfaces::msg::Azimuth::ConstSharedPtr &msg)

void transformAndPublish(const compass_interfaces::msg::Azimuth::ConstSharedPtr &msg)

void failedCb(const compass_interfaces::msg::Azimuth::ConstSharedPtr &msg, tf2_ros::filter_failure_reasons::FilterFailureReason reason)

Protected Attributes

std::shared_ptr<CompassConverter> converter

std::unique_ptr<UniversalAzimuthSubscriber> azimuthInput

std::unique_ptr<message_filters::Subscriber<sensor_msgs::msg::NavSatFix>> fixInput

std::unique_ptr<message_filters::Subscriber<std_msgs::msg::Int32>> utmZoneInput

std::unique_ptr<CompassFilter> compassFilter

std::unique_ptr<tf2_ros::MessageFilter<compass_interfaces::msg::Azimuth>> tfFilter

rclcpp::Publisher<compass_interfaces::msg::Azimuth>::SharedPtr pub_az

rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr pub_imu

rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pub_pose

rclcpp::Publisher<geometry_msgs::msg::QuaternionStamped>::SharedPtr pub_quat

std::string targetFrame

std::string outFrameId

OutputType targetType = {OutputType::Azimuth}

tf2_ros::Buffer::SharedPtr buffer

std::shared_ptr<tf2_ros::TransformListener> listener