Class OnlineImuRateNode

• Defined in File online_imu_rate_node.cpp

Inheritance Relationships

Base Type

• public rko_lio::ros::BaseNode (Class BaseNode)

Class Documentation

class OnlineImuRateNode : public rko_lio::ros::BaseNode

Public Functions

OnlineImuRateNode(const OnlineImuRateNode&) = delete

OnlineImuRateNode(OnlineImuRateNode&&) = delete

OnlineImuRateNode &operator=(const OnlineImuRateNode&) = delete

OnlineImuRateNode &operator=(OnlineImuRateNode&&) = delete

inline explicit OnlineImuRateNode(const rclcpp::NodeOptions &options)

inline rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface()

inline void imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr &imu_msg)

inline void lidar_callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &lidar_msg)

inline void publish_imu_rate_odometry(const core::State &state) const

Public Members

rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_at_imu_rate_publisher

rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_sub

rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr lidar_sub

core::Timer timer

std::string odom_at_imu_rate_topic = "rko_lio/odom_at_imu_rate"

bool tf_at_imu_rate = false