Easy Navigation
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easynav Namespace Reference

Classes

class  ControllerNode
 ROS 2 lifecycle node that manages calculating speeds for the Easy Navigation system. More...
 
class  DummyController
 A default "dummy" implementation for the Control Method. More...
 
class  DummyLocalizer
 A default "do-nothing" implementation of LocalizerMethodBase. More...
 
class  DummyMapsManager
 A default "do-nothing" implementation of MapsManagerBase. More...
 
class  DummyPlanner
 A default "do-nothing" implementation of PlannerMethodBase. More...
 
class  GoalManager
 Handles navigation goals, their lifecycle, and command interface. More...
 
class  GoalManagerClient
 Client-side interface for interacting with GoalManager. More...
 
class  ImagePerception
 Represents a single image perception from a sensor. More...
 
class  ImagePerceptionHandler
 Handles the creation and updating of ImagePerception instances from sensor_msgs::msg::Image messages. More...
 
class  LocalizerNode
 ROS 2 lifecycle node that manages localization in Easy Navigation. More...
 
class  MapsManagerNode
 ROS 2 lifecycle node that manages map-related plugins in Easy Navigation. More...
 
class  NavState
 A generic, type-safe, lock-free blackboard to hold runtime state. More...
 
class  PerceptionBase
 Abstract base class for representing a single sensor perception. More...
 
class  PerceptionHandler
 Abstract base interface for group-specific perception handlers. More...
 
struct  PerceptionPtr
 Represents a perception entry with its state and ROS subscription. More...
 
class  PlannerNode
 ROS 2 lifecycle node that manages path planning in Easy Navigation. More...
 
class  PointPerception
 Concrete perception class for 3D point cloud data. More...
 
class  PointPerceptionHandler
 PerceptionHandler implementation for sensors producing point-based data. More...
 
class  PointPerceptionsOpsView
 Provides efficient, non-destructive, chainable operations over a set of point-based perceptions. More...
 
class  RTTFBuffer
 Provides functionality for RTTFBuffer. More...
 
class  SensorsNode
 ROS 2 lifecycle node that manages sensor fusion in Easy Navigation. More...
 
class  Singleton
 
class  SystemNode
 ROS 2 lifecycle node coordinating all Easy Navigation components. More...
 
struct  SystemNodeInfo
 Structure holding runtime information for a subnode. More...
 
class  YTSession
 A Yaets Tracing Session. More...
 

Typedefs

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 
using ImagePerceptions
 Alias for a vector of shared pointers to ImagePerception objects.
 
using PointPerceptions
 Alias for a vector of pointers to PointPerception objects.
 

Functions

void convert (const sensor_msgs::msg::LaserScan &scan, pcl::PointCloud< pcl::PointXYZ > &pc)
 Converts a LaserScan message into a point cloud.
 
PointPerceptions get_point_perceptions (std::vector< PerceptionPtr > &perceptionptr)
 
sensor_msgs::msg::PointCloud2 perception_to_rosmsg (const PointPerception &perception)
 Converts a PointPerception to a sensor_msgs::msg::PointCloud2 message.
 
sensor_msgs::msg::PointCloud2 points_to_rosmsg (const pcl::PointCloud< pcl::PointXYZ > &points)
 Converts a PCL point cloud to a sensor_msgs::msg::PointCloud2 message.
 

Variables

template<class C>
std::once_flag Singleton< C >::init_flag_
 
template<class C>
std::unique_ptr< C > Singleton< C >::instance_ = nullptr
 

Typedef Documentation

◆ CallbackReturnT

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

◆ ImagePerceptions

Initial value:
std::vector<std::shared_ptr<ImagePerception>>

Alias for a vector of shared pointers to ImagePerception objects.

◆ PointPerceptions

Initial value:
std::vector<std::shared_ptr<PointPerception>>

Alias for a vector of pointers to PointPerception objects.

Function Documentation

◆ convert()

void convert ( const sensor_msgs::msg::LaserScan & scan,
pcl::PointCloud< pcl::PointXYZ > & pc )

Converts a LaserScan message into a point cloud.

Parameters
scanThe input laser scan message.
pcOutput point cloud (XYZ format).

◆ get_point_perceptions()

PointPerceptions get_point_perceptions ( std::vector< PerceptionPtr > & perceptionptr)

◆ perception_to_rosmsg()

sensor_msgs::msg::PointCloud2 perception_to_rosmsg ( const PointPerception & perception)

Converts a PointPerception to a sensor_msgs::msg::PointCloud2 message.

Parameters
perceptionThe perception to convert.
Returns
The ROS PointCloud2 message.

◆ points_to_rosmsg()

sensor_msgs::msg::PointCloud2 points_to_rosmsg ( const pcl::PointCloud< pcl::PointXYZ > & points)

Converts a PCL point cloud to a sensor_msgs::msg::PointCloud2 message.

Parameters
pointsThe input point cloud.
Returns
The ROS PointCloud2 message.

Variable Documentation

◆ Singleton< C >::init_flag_

template<class C>
std::once_flag Singleton< C >::init_flag_

◆ Singleton< C >::instance_

template<class C>
std::unique_ptr<C> Singleton< C >::instance_ = nullptr