Class LocatorNode
Defined in File locator_node.hpp
Inheritance Relationships
Base Type
public nav2_util::LifecycleNode
Class Documentation
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class LocatorNode : public nav2_util::LifecycleNode
Public Functions
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explicit LocatorNode(const std::string &node_name)
Protected Functions
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nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override
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nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override
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nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override
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nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override
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nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override
Protected Attributes
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std::atomic<bool> active_ = {false}
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rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_sub_
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rclcpp::Client<std_srvs::srv::Empty>::SharedPtr serviceClientStartLocalization_
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rclcpp::Client<std_srvs::srv::Empty>::SharedPtr serviceClientStopLocalization_
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std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_
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std::shared_ptr<tf2_ros::TransformListener> tf_listener_
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std::shared_ptr<tf2_ros::Buffer> tf_buffer_
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tf2::Transform odom_to_map_
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std::string base_frame_id_
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std::string global_frame_id_
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std::string odom_frame_id_
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std::string pose_topic_
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tf2::Duration transform_tolerance_
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explicit LocatorNode(const std::string &node_name)