Class Acceleration2D

Inheritance Relationships

Base Type

  • public fuse_core::AsyncSensorModel

Class Documentation

class Acceleration2D : public fuse_core::AsyncSensorModel

An adapter-type sensor that produces 2D linear acceleration constraints from information published by another node.

This sensor subscribes to a geometry_msgs::msg::AccelWithCovarianceStamped topic and converts each received message into a 2D linear acceleration variable and constraint.

Parameters:

  • device_id (uuid string, default: 00000000-0000-0000-0000-000000000000) The device/robot ID to publish

  • device_name (string) Used to generate the device/robot ID if the device_id is not provided

  • queue_size (int, default: 10) The subscriber queue size for the twist messages

  • target_frame (string) The target frame_id to transform the data into before using it

  • topic (string) The topic to which to subscribe for the twist messages

Subscribes:

  • topic (geometry_msgs::msg::AccelWithCovarianceStamped) Acceleration information at a given timestamp

Public Types

using ParameterType = parameters::Acceleration2DParams

Public Functions

Acceleration2D()

Default constructor.

virtual ~Acceleration2D() = default

Destructor.

void initialize(fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces, const std::string &name, fuse_core::TransactionCallback transaction_callback) override

Shadowing extension to the AsyncSensorModel::initialize call.

void process(const geometry_msgs::msg::AccelWithCovarianceStamped &msg)

Callback for acceleration messages.

Parameters:

msg – [in] - The acceleration message to process

Protected Types

using AccelerationThrottledCallback = fuse_core::ThrottledMessageCallback<geometry_msgs::msg::AccelWithCovarianceStamped>

Protected Functions

void onInit() override

Perform any required initialization for the sensor model.

This could include things like reading from the parameter server or subscribing to topics. The class’s node handles will be properly initialized before SensorModel::onInit() is called. Spinning of the callback queue will not begin until after the call to SensorModel::onInit() completes.

void onStart() override

Subscribe to the input topic to start sending transactions to the optimizer.

void onStop() override

Unsubscribe from the input topic to stop sending transactions to the optimizer.

Protected Attributes

fuse_core::UUID device_id_

The UUID of this device.

fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Base, fuse_core::node_interfaces::Clock, fuse_core::node_interfaces::Logging, fuse_core::node_interfaces::Parameters, fuse_core::node_interfaces::Topics, fuse_core::node_interfaces::Waitables> interfaces_

Shadows AsyncSensorModel interfaces_.

rclcpp::Clock::SharedPtr clock_

The sensor model’s clock, for timestamping and logging.

rclcpp::Logger logger_

The sensor model’s logger.

ParameterType params_
std::unique_ptr<tf2_ros::Buffer> tf_buffer_
std::unique_ptr<tf2_ros::TransformListener> tf_listener_
rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr sub_
AccelerationThrottledCallback throttled_callback_