Class Pose2D

Inheritance Relationships

Base Type

  • public fuse_core::AsyncSensorModel

Class Documentation

class Pose2D : public fuse_core::AsyncSensorModel

An adapter-type sensor that produces absolute or relative pose constraints from information published by another node.

This sensor subscribes to a geometry_msgs::msg::PoseWithCovarianceStamped topic and converts each received message into an absolute or relative pose constraint. If the differential parameter is set to false (the default), the measurement will be treated as an absolute constraint. If it is set to true, consecutive measurements will be used to generate relative pose constraints.

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 pose messages

  • topic (string) The topic to which to subscribe for the pose messages (required if subscribe is true)

  • differential (bool, default: false) Whether we should fuse measurements absolutely, or to create relative pose constraints using consecutive measurements.

Subscribes:

  • topic (geometry_msgs::msg::PoseWithCovarianceStamped) Absolute pose information at a given timestamp

Public Types

using ParameterType = parameters::Pose2DParams

Public Functions

Pose2D()

Default constructor.

virtual ~Pose2D() = 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::PoseWithCovarianceStamped &msg)

Callback for pose messages.

Parameters:

msg – [in] - The pose message to process

Protected Types

using PoseThrottledCallback = fuse_core::ThrottledMessageCallback<geometry_msgs::msg::PoseWithCovarianceStamped>

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.

void processDifferential(const geometry_msgs::msg::PoseWithCovarianceStamped &pose, const bool validate, fuse_core::Transaction &transaction)

Process a pose message in differential mode.

Parameters:

  • pose – [in] - The pose message to process in differential mode

  • validate – [in] - Whether to validate the pose or not

  • transaction – [out] - The generated variables and constraints are added to this transaction

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_
geometry_msgs::msg::PoseWithCovarianceStamped::UniquePtr previous_pose_msg_
std::unique_ptr<tf2_ros::Buffer> tf_buffer_
std::unique_ptr<tf2_ros::TransformListener> tf_listener_
rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr sub_
PoseThrottledCallback throttled_callback_