FriendAMCLLocalizer Class Reference

Inheritance diagram for FriendAMCLLocalizer:

Collaboration diagram for FriendAMCLLocalizer:

Public Member Functions
void	force_path (const std::string &path)
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.
Public Member Functions inherited from SimpleController
std::expected< void, std::string >	on_initialize () override
	Initializes parameters and PID controllers.
	SimpleController ()
void	update_rt (NavState &nav_state) override
	Updates the controller using the given NavState.
	~SimpleController () override
	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.
Protected Member Functions inherited from SimpleController
double	get_angle (const geometry_msgs::msg::Point &from, const geometry_msgs::msg::Point &to)
	Computes the angle between two points.
double	get_diff_angle (const geometry_msgs::msg::Quaternion &a, const geometry_msgs::msg::Quaternion &b)
	Computes the angular difference between two quaternions (yaw).
double	get_distance (const geometry_msgs::msg::Pose &a, const geometry_msgs::msg::Pose &b)
	Computes the Euclidean distance between two poses.
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.
Protected Attributes inherited from AMCLLocalizer
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.
Protected Attributes inherited from SimpleController
std::shared_ptr< PIDController >	angular_pid_
	PID controller for angular velocity.
double	k_rot_ {0.5}
rclcpp::Time	last_update_ts_
	Timestamp of the last control update.
double	last_vlin_ {0.0}
	Previous linear velocity for acceleration limiting.
double	last_vrot_ {0.0}
	Previous angular velocity for acceleration limiting.
std::shared_ptr< PIDController >	linear_pid_
	PID controller for linear velocity.
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.
double	max_angular_speed_ {1.0}
	Maximum angular speed in rad/s.
double	max_linear_acc_ {0.3}
	Maximum linear acceleration in m/s².
double	max_linear_speed_ {1.0}
	Maximum linear speed in m/s.
double	tolerance_dist_ {0.05}
	Distance threshold to switch to orientation tracking.
geometry_msgs::msg::TwistStamped	twist_stamped_
	Current velocity command.

Member Function Documentation

force_path() [1/2]

void force_path

(

const std::string &

path

)

force_path() [2/2]

void force_path

(

const std::string &

path

)

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

• easynav_simple_localizer/tests/simple_localizer_tests.cpp
• easynav_simple_controller/tests/simple_controller_tests.cpp