Easy Navigation
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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 |
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.
void convert | ( | const sensor_msgs::msg::LaserScan & | scan, |
pcl::PointCloud< pcl::PointXYZ > & | pc ) |
Converts a LaserScan message into a point cloud.
scan | The input laser scan message. |
pc | Output point cloud (XYZ format). |
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.
perception | The perception to convert. |
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.
points | The input point cloud. |
std::once_flag Singleton< C >::init_flag_ |
std::unique_ptr<C> Singleton< C >::instance_ = nullptr |