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| void | force_path (const std::string &path) |
| void | force_path (const std::string &path) |
| void | force_path (const std::string &path) |
| void | force_path (const std::string &path) |
| void | on_initialize () override |
| | Initializes parameters and PID controllers.
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| | SimpleController () |
| void | update_rt (NavState &nav_state) override |
| | Updates the controller using the given NavState.
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| | ~SimpleController () override |
| | Destructor.
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| | AMCLLocalizer () |
| | Default constructor.
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| | AMCLLocalizer () |
| | Default constructor.
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| nav_msgs::msg::Odometry | get_pose () |
| | Gets the current estimated pose as an Odometry message.
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| nav_msgs::msg::Odometry | get_pose () |
| | Gets the current estimated pose as an Odometry message.
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| tf2::Transform | getEstimatedPose () const |
| | Gets the current estimated pose as a transform.
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| tf2::Transform | getEstimatedPose () const |
| | Gets the current estimated pose as a transform.
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| virtual void | on_initialize () override |
| | Initializes the localization method.
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| virtual void | on_initialize () override |
| | Initializes the localization method.
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| void | update (NavState &nav_state) override |
| | General update of the localization state.
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| void | update (NavState &nav_state) override |
| | General update of the localization state.
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| void | update_rt (NavState &nav_state) override |
| | Real-time update of the localization state.
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| void | update_rt (NavState &nav_state) override |
| | Real-time update of the localization state.
|
| | ~AMCLLocalizer () |
| | Destructor.
|
| | ~AMCLLocalizer () |
| | Destructor.
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| double | get_angle (const geometry_msgs::msg::Point &from, const geometry_msgs::msg::Point &to) |
| | Computes the angle between two points.
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| double | get_diff_angle (const geometry_msgs::msg::Quaternion &a, const geometry_msgs::msg::Quaternion &b) |
| | Computes the angular difference between two quaternions (yaw).
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| double | get_distance (const geometry_msgs::msg::Pose &a, const geometry_msgs::msg::Pose &b) |
| | Computes the Euclidean distance between two poses.
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| geometry_msgs::msg::Pose | get_ref_pose (const nav_msgs::msg::Path &path, double look_ahead) |
| | Gets the reference pose at look-ahead distance on the path.
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| void | correct (NavState &nav_state) |
| | Applies the sensor model to update particle weights.
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| void | correct (NavState &nav_state) |
| | Applies the sensor model to update particle weights.
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| void | init_pose_callback (geometry_msgs::msg::PoseWithCovarianceStamped::UniquePtr msg) |
| | Callback for receiving the initial pose.
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| void | initializeParticles () |
| | Initializes the set of particles.
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| void | initializeParticles () |
| | Initializes the set of particles.
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| void | odom_callback (nav_msgs::msg::Odometry::UniquePtr msg) |
| | Callback for receiving odometry updates.
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| void | odom_callback (nav_msgs::msg::Odometry::UniquePtr msg) |
| | Callback for receiving odometry updates.
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| void | predict (NavState &nav_state) |
| | Applies the motion model to update particle poses.
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| void | predict (NavState &nav_state) |
| | Applies the motion model to update particle poses.
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| void | publishEstimatedPose (const tf2::Transform &est_pose) |
| | Publishes the estimated pose with covariance.
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| void | publishEstimatedPose (const tf2::Transform &est_pose) |
| | Publishes the estimated pose with covariance.
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| void | publishParticles () |
| | Publishes the current set of particles.
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| void | publishParticles () |
| | Publishes the current set of particles.
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| void | publishTF (const tf2::Transform &map2bf) |
| | Publishes a TF transform between map and base footprint.
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| void | publishTF (const tf2::Transform &map2bf) |
| | Publishes a TF transform between map and base footprint.
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| void | reseed () |
| | Re-initializes the particle cloud if necessary.
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| void | reseed () |
| | Re-initializes the particle cloud if necessary.
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| void | update_odom_from_tf () |
| | Update odom from TFs instead of a odom topic.
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| double | angular_kd_ {0.08} |
| | Derivative gain for angular PID.
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| double | angular_ki_ {0.03} |
| | Integral gain for angular PID.
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| double | angular_kp_ {1.5} |
| | Proportional gain for angular PID.
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| std::shared_ptr< PIDController > | angular_pid_ |
| | PID controller for angular velocity.
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| double | final_goal_angle_tolerance_ {0.1} |
| | Angular tolerance at the final goal in radians.
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| double | k_rot_ {0.5} |
| | Gain to reduce linear speed based on angular velocity.
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| rclcpp::Time | last_update_ts_ |
| | Timestamp of the last control update.
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| double | last_vlin_ {0.0} |
| | Previous linear velocity for acceleration limiting.
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| double | last_vrot_ {0.0} |
| | Previous angular velocity for acceleration limiting.
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| double | linear_kd_ {0.08} |
| | Derivative gain for linear PID.
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| double | linear_ki_ {0.03} |
| | Integral gain for linear PID.
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| double | linear_kp_ {0.95} |
| | Proportional gain for linear PID.
|
| std::shared_ptr< PIDController > | linear_pid_ |
| | PID controller for linear velocity.
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| double | look_ahead_dist_ {1.0} |
| | Distance ahead of the robot to track in meters.
|
| double | max_angular_acc_ {0.3} |
| | Maximum angular acceleration in rad/s².
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| double | max_angular_speed_ {1.0} |
| | Maximum angular speed in rad/s.
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| double | max_linear_acc_ {0.3} |
| | Maximum linear acceleration in m/s².
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| double | max_linear_speed_ {1.0} |
| | Maximum linear speed in m/s.
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| double | tolerance_dist_ {0.05} |
| | Distance threshold to switch to orientation tracking.
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| geometry_msgs::msg::TwistStamped | twist_stamped_ |
| | Current velocity command.
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| bool | compute_odom_from_tf_ {false} |
| | Whether to use TFs to compute odom.
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| rclcpp::Publisher< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr | estimate_pub_ |
| | Publisher for the estimated robot pose with covariance.
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| rclcpp::Subscription< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr | init_pose_sub_ |
| | Subscriber for the initial pose.
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| bool | initialized_odom_ = false |
| | Flag indicating if the odometry has been initialized.
|
| rclcpp::Time | last_input_time_ |
| | Timestamp of the last input message (odometry or initial pose).
|
| 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.
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| double | min_noise_yaw_ {0.05} |
| | Minimum yaw noise threshold.
|
| double | noise_rotation_ {0.01} |
| | Rotational noise standard deviation.
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| double | noise_translation_ {0.01} |
| | Translational noise standard deviation.
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| double | noise_translation_to_rotation_ {0.01} |
| | Coupling noise between translation and rotation.
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| tf2::Transform | odom_ {tf2::Transform::getIdentity()} |
| | Last odometry transform received.
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| rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr | odom_sub_ |
| | Subscriber for odometry messages.
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| std::vector< Particle > | particles_ |
| | List of particles representing the belief distribution.
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| rclcpp::Publisher< geometry_msgs::msg::PoseArray >::SharedPtr | particles_pub_ |
| | Publisher for visualization of the particle cloud.
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| nav_msgs::msg::Odometry | pose_ |
| | Current estimated odometry-based pose.
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| double | reseed_time_ |
| | Time interval (in seconds) after which the particles should be reseeded.
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| std::mt19937 | rng_ |
| | Random number generator used for sampling noise.
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| std::default_random_engine | rng_ |
| | Random number generator used for sampling noise.
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| std::unique_ptr< tf2_ros::TransformBroadcaster > | tf_broadcaster_ |
| | TF broadcaster to publish map to base_footprint transform.
|
1.16.1