23#ifndef EASYNAV_LOCALIZER__DUMMYLOCALIZER_HPP_
24#define EASYNAV_LOCALIZER__DUMMYLOCALIZER_HPP_
28#include "nav_msgs/msg/odometry.hpp"
29#include "easynav_core/LocalizerMethodBase.hpp"
30#include "tf2_ros/transform_broadcaster.h"
56 virtual std::expected<void, std::string>
on_initialize()
override;
78 nav_msgs::msg::Odometry robot_pose_;
80 std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
82 double cycle_time_rt_ {0.0};
83 double cycle_time_nort_ {0.0};
virtual void update(NavState &nav_state) override
Update the localization using the current navigation state.
Definition DummyLocalizer.cpp:62
DummyLocalizer()=default
Default constructor.
virtual void update_rt(NavState &nav_state) override
Update the localization using the current navigation state.
Definition DummyLocalizer.cpp:46
virtual std::expected< void, std::string > on_initialize() override
Plugin-specific initialization logic.
Definition DummyLocalizer.cpp:31
~DummyLocalizer()=default
Default destructor.
A generic, type-safe, lock-free blackboard to hold runtime state.
Definition NavState.hpp:62
Definition RTTFBuffer.hpp:30