Struct BridgeROS2::Params
Defined in File BridgeROS2.h
Nested Relationships
This struct is a nested type of Class BridgeROS2.
Struct Documentation
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struct Params
Public Members
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std::string base_link_frame = "base_link"
tf frame name with respect to sensor poses are measured, and also used for publishing SLAM/localization results (read below).
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std::string base_footprint_frame
If not empty, the node will broadcast a static /tf from base_link to base_footprint with the TF base_footprint_to_base_link_tf at start up. Normally: “base_footprint”
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mrpt::math::TPose3D base_footprint_to_base_link_tf = {0, 0, 0, 0, 0, 0}
YAML format: “[x y z yaw pitch roll]” (meters & degrees)
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std::string odom_frame = "odom"
Used for: (a) importing odometry to MOLA if
forward_ros_tf_as_mola_odometry_observations=true
(b) querying${odom_frame} => ${base_link_frame}
whenpublish_localization_following_rep105=true
.
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std::string reference_frame = "map"
tf frame used for: (a) See
publish_tf_from_robot_pose_observations
(b) To follow REP105 (publish_localization_following_rep105
), this must match the frame used as reference in the LocalizationSource (e.g. mola_lidar_odometry)
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bool publish_localization_following_rep105 = true
How to publish localization to /tf:
false
(direct mode): reference_frame (“map”) -> base_link (“base_link”) Note that reference_frame in this case comes from the localization source module (e.g. mola_lida_odometry), it is not configured here.true
(indirect mode), following ROS REP 105:map -> odom
(such as “map -> odom -> base_link” = “map -> base_link”)
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bool forward_ros_tf_as_mola_odometry_observations = false
If enabled, during spinOnce(), the tf
${odom_frame} => ${base_link_frame}
will be queried and forwarded as anCObservationOdometry
reading to the MOLA subsystem:
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bool publish_odometry_msgs_from_slam = true
If enabled, SLAM/Localization results will be published as nav_msgs/Odometry messages.
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bool publish_tf_from_slam = true
If enabled, SLAM/Localization results will be published as tf messages, for frames according to explained above for
publish_localization_following_rep105
.
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bool publish_tf_from_robot_pose_observations = true
If enabled, robot pose observations (typically, ground truth from datasets), will be forwarded to ROS as /tf messages:
${reference_frame} => ${base_link}
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std::string relocalize_from_topic = "/initialpose"
Default in RViz.
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bool publish_in_sim_time = false
If true, the original dataset timestamps will be used to publish. Otherwise, the wallclock time will be used.
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double period_publish_new_localization = 0.2
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double period_publish_new_map = 5.0
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double period_publish_static_tfs = 1.0
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double period_check_new_mola_subs = 1.0
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int wait_for_tf_timeout_milliseconds = 100
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std::string georef_map_reference_frame = "map"
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std::string georef_map_utm_frame = "utm"
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std::string georef_map_enu_frame = "enu"
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std::string base_link_frame = "base_link"