Class Path2DPublisher

Inheritance Relationships

Base Type

  • public fuse_core::AsyncPublisher

Class Documentation

class Path2DPublisher : public fuse_core::AsyncPublisher

Publisher plugin that publishes all of the stamped 2D poses as a nav_msgs::msg::Path message.

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

  • frame_id (string, default: map) Name for the robot’s map frame

Public Functions

Path2DPublisher()

Constructor.

virtual ~Path2DPublisher() = default

Destructor.

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

Shadowing extension to the AsyncPublisher::initialize call.

void onInit() override

Perform any required post-construction initialization, such as advertising publishers or reading from the parameter server.

void notifyCallback(fuse_core::Transaction::ConstSharedPtr transaction, fuse_core::Graph::ConstSharedPtr graph) override

Notify the publisher about variables that have been added or removed.

Parameters:

  • transaction – [in] A Transaction object, describing the set of variables that have been added and/or removed

  • graph – [in] A read-only pointer to the graph object, allowing queries to be performed whenever needed

Protected Attributes

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

Shadows AsyncPublisher interfaces_.

fuse_core::UUID device_id_

The UUID of the device to be published.

std::string frame_id_

The name of the frame for this path.

The publisher that sends the entire robot trajectory as a path

rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr path_publisher_

The publisher that sends the entire robot trajectory as a pose array.

rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr pose_array_publisher_