Class Node

• Defined in File node.hpp

Inheritance Relationships

Derived Types

• public rko_lio::ros::OfflineNode (Class OfflineNode)

• public rko_lio::ros::OnlineNode (Class OnlineNode)

Class Documentation

class Node

Subclassed by rko_lio::ros::OfflineNode, rko_lio::ros::OnlineNode

Public Functions

Node() = delete

Node(const std::string &node_name, const rclcpp::NodeOptions &options)

void parse_cli_extrinsics()

bool check_and_set_extrinsics()

void imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr &imu_msg)

void lidar_callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &lidar_msg)

void registration_loop()

void publish_odometry(const core::State &state, const core::Secondsd &stamp) const

void publish_lidar_accel(const Eigen::Vector3d &acceleration, const core::Secondsd &stamp) const

void publish_map_loop()

void dump_results_to_disk(const std::filesystem::path &results_dir, const std::string &run_name) const

~Node()

Node(const Node&) = delete

Node(Node&&) = delete

Node &operator=(const Node&) = delete

Node &operator=(Node&&) = delete

Public Members

rclcpp::Node::SharedPtr node

std::unique_ptr<core::LIO> lio

core::TimestampProcessingConfig timestamp_proc_config

std::string imu_topic

std::string imu_frame = ""

std::string lidar_topic

std::string lidar_frame = ""

std::string base_frame

std::string odom_frame = "odom"

std::string odom_topic = "/rko_lio/odometry"

std::string map_topic = "/rko_lio/local_map"

bool dump_results = false

std::string results_dir = "results"

std::string run_name = "rko_lio_run"

bool invert_odom_tf = false

bool publish_lidar_acceleration = false

bool publish_deskewed_scan = false

bool publish_local_map = false

Sophus::SE3d extrinsic_imu2base

Sophus::SE3d extrinsic_lidar2base

bool extrinsics_set = false

std::shared_ptr<tf2_ros::TransformListener> tf_listener

std::shared_ptr<tf2_ros::Buffer> tf_buffer

std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster

rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_publisher

rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr frame_publisher

rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr map_publisher

rclcpp::Publisher<geometry_msgs::msg::AccelStamped>::SharedPtr lidar_accel_publisher

std::jthread map_publish_thead

core::Secondsd publish_map_after = std::chrono::seconds(1)

std::mutex local_map_mutex

std::jthread registration_thread

std::mutex buffer_mutex

std::condition_variable sync_condition_variable

std::atomic<bool> atomic_node_running = true

std::atomic<bool> atomic_can_process = false

std::queue<core::ImuControl> imu_buffer

std::queue<core::LidarFrame> lidar_buffer

size_t max_lidar_buffer_size = 50