Class BaseNode¶

Defined in File base_node.hpp

Inheritance Relationships¶

Derived Types¶

public rko_lio::ros::OnlineImuRateNode (Class OnlineImuRateNode)
public rko_lio::ros::ThreadedNode (Class ThreadedNode)

Class Documentation¶

class BaseNode¶

Subclassed by rko_lio::ros::OnlineImuRateNode, rko_lio::ros::ThreadedNode

Public Functions

BaseNode() = delete¶

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

void parse_cli_extrinsics()¶

bool check_and_set_extrinsics()¶

std::tuple<core::Timestamps, core::Vector3dVector> process_lidar_msg(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &lidar_msg) const¶

core::Vector3dVector register_scan_locked(const core::Vector3dVector &scan, const core::TimestampVector &time_vector)¶

void publish_lidar_outputs(const core::Vector3dVector &deskewed_frame, const core::Secondsd &stamp) const¶

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

void publish_tf(const Sophus::SE3d &pose, 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¶

~BaseNode()¶

BaseNode(const BaseNode&) = delete¶

BaseNode(BaseNode&&) = delete¶

BaseNode &operator=(const BaseNode&) = delete¶

BaseNode &operator=(BaseNode&&) = 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/odom"¶

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

std::string deskewed_scan_topic = "rko_lio/frame"¶

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::atomic<bool> atomic_node_running = true¶