FriendAMCLLocalizer Class Reference

Inheritance diagram for FriendAMCLLocalizer:

Collaboration diagram for FriendAMCLLocalizer:

Public Member Functions
void	force_path (const std::string &path)
Public Member Functions inherited from AMCLLocalizer
	AMCLLocalizer ()
	Default constructor.
nav_msgs::msg::Odometry	get_pose ()
	Gets the current estimated pose as an Odometry message.
tf2::Transform	getEstimatedPose () const
	Gets the current estimated pose as a transform.
virtual std::expected< void, std::string >	on_initialize () override
	Initializes the localization method.
void	update (NavState &nav_state) override
	General update of the localization state.
void	update_rt (NavState &nav_state) override
	Real-time update of the localization state.
	~AMCLLocalizer ()
	Destructor.

Additional Inherited Members
Protected Member Functions inherited from AMCLLocalizer
void	correct (NavState &nav_state)
	Applies the sensor model to update particle weights.
void	initializeParticles ()
	Initializes the set of particles.
void	odom_callback (nav_msgs::msg::Odometry::UniquePtr msg)
	Callback for receiving odometry updates.
void	predict (NavState &nav_state)
	Applies the motion model to update particle poses.
void	publishEstimatedPose (const tf2::Transform &est_pose)
	Publishes the estimated pose with covariance.
void	publishParticles ()
	Publishes the current set of particles.
void	publishTF (const tf2::Transform &map2bf)
	Publishes a TF transform between map and base footprint.
void	reseed ()
	Re-initializes the particle cloud if necessary.
void	update_odom_from_tf ()
	Update odom from TFs instead of a odom topic.
Protected Attributes inherited from AMCLLocalizer
bool	compute_odom_from_tf_ {false}
	Whether to use TFs to compute odom.
rclcpp::Publisher< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr	estimate_pub_
	Publisher for the estimated robot pose with covariance.
bool	initialized_odom_ = false
	Flag indicating if the odometry has been initialized.
tf2::Transform	last_odom_ {tf2::Transform::getIdentity()}
	Previous odometry transform (used to compute deltas).
rclcpp::Time	last_reseed_
	Timestamp of the last reseed event.
double	min_noise_xy_ {0.05}
	Minimum translation noise threshold.
double	min_noise_yaw_ {0.05}
	Minimum yaw noise threshold.
double	noise_rotation_ {0.01}
	Rotational noise standard deviation.
double	noise_translation_ {0.01}
	Translational noise standard deviation.
double	noise_translation_to_rotation_ {0.01}
	Coupling noise between translation and rotation.
tf2::Transform	odom_ {tf2::Transform::getIdentity()}
	Last odometry transform received.
rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	odom_sub_
	Subscriber for odometry messages.
std::vector< Particle >	particles_
	List of particles representing the belief distribution.
rclcpp::Publisher< geometry_msgs::msg::PoseArray >::SharedPtr	particles_pub_
	Publisher for visualization of the particle cloud.
nav_msgs::msg::Odometry	pose_
	Current estimated odometry-based pose.
double	reseed_time_
	Time interval (in seconds) after which the particles should be reseeded.
std::default_random_engine	rng_
	Random number generator used for sampling noise.
std::unique_ptr< tf2_ros::TransformBroadcaster >	tf_broadcaster_
	TF broadcaster to publish map to base_footprint transform.

Member Function Documentation

force_path()

void force_path

(

const std::string &

path

)

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The documentation for this class was generated from the following file:

• easynav_costmap_localizer/tests/costmap_localizer_tests.cpp