Class Twist2D

Inheritance Relationships

Base Type

  • public fuse_core::AsyncSensorModel

Class Documentation

class Twist2D : public fuse_core::AsyncSensorModel

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

This sensor subscribes to a geometry_msgs::msg::TwistWithCovarianceStamped topic and converts each received message into two absolute velocity constraints (one for linear velocity, and one for angular).

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

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

Subscribes:

  • topic (geometry_msgs::msg::TwistWithCovarianceStamped) Absolute velocity information at a given timestamp

Public Types

using ParameterType = parameters::Twist2DParams

Public Functions

Twist2D()

Default constructor.

virtual ~Twist2D() = 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::TwistWithCovarianceStamped &msg)

Callback for twist messages.

Parameters:

msg – [in] - The twist message to process

Protected Types

using TwistThrottledCallback = fuse_core::ThrottledMessageCallback<geometry_msgs::msg::TwistWithCovarianceStamped>

Protected Functions

void onInit() override

Loads ROS parameters and subscribes to the parameterized topic.

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::TwistWithCovarianceStamped>::SharedPtr sub_
TwistThrottledCallback throttled_callback_