beluga_amcl::AmclNodelet Class Reference

2D AMCL as a ROS (1) nodelet. More...

#include <amcl_nodelet.hpp>

Inheritance diagram for beluga_amcl::AmclNodelet:

Collaboration diagram for beluga_amcl::AmclNodelet:

Protected Types
using	AmclConfigServer = dynamic_reconfigure::Server< beluga_amcl::AmclConfig >
	Type alias for a dynamic_reconfigure::Server bound to beluga_amcl configuration.

Protected Member Functions
void	onInit () override
	Callback for nodelet initialization.
auto	get_initial_estimate () const -> std::optional< std::pair< Sophus::SE2d, Eigen::Matrix3d >>
	Get initial pose estimate from parameters if set.
auto	get_motion_model (std::string_view) const -> beluga_ros::Amcl::motion_model_variant
	Get motion model as per current parametrization.
auto	get_sensor_model (std::string_view, const nav_msgs::OccupancyGrid::ConstPtr &) const -> beluga_ros::Amcl::sensor_model_variant
	Get sensor model as per current parametrization.
auto	make_particle_filter (const nav_msgs::OccupancyGrid::ConstPtr &) const -> std::unique_ptr< beluga_ros::Amcl >
	Instantiate particle filter given an initial occupancy grid map and the current parametrization.
void	config_callback (beluga_amcl::AmclConfig &config, uint32_t level)
	Callback for dynamic_reconfigure updates.
void	map_callback (const nav_msgs::OccupancyGrid::ConstPtr &message)
	Callback for occupancy grid map updates.
void	map_timer_callback (const ros::TimerEvent &ev)
	Callback for repeated map initialization requests.
bool	set_map_callback (nav_msgs::SetMap::Request &request, nav_msgs::SetMap::Response &response)
	Callback for the map update service.
void	handle_map_with_default_initial_pose (const nav_msgs::OccupancyGrid::ConstPtr &map)
	Particle filter (re)initialization helper method.
void	particle_cloud_timer_callback (const ros::TimerEvent &ev)
	Callback for periodic particle cloud updates.
void	laser_callback (const sensor_msgs::LaserScan::ConstPtr &laser_scan)
	Callback for laser scan updates.
void	initial_pose_callback (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &message)
	Callback for pose (re)initialization.
bool	global_localization_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	Callback for the global relocalization service.
bool	nomotion_update_callback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
	Callback for the no motion update service.
void	save_pose_timer_callback (const ros::TimerEvent &ev)
	Callback for periodic pose saving.
bool	initialize_from_estimate (const std::pair< Sophus::SE2d, Eigen::Matrix3d > &estimate)
	Initialize particles from an estimated pose and covariance. More...
bool	initialize_from_map ()
	Initialize particles from map. More...
void	update_covariance_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &status)
	Callback for estimated pose covariance diagnostics.

Static Protected Member Functions
static auto	get_execution_policy (std::string_view) -> beluga_ros::Amcl::execution_policy_variant
	Get execution policy given its name.

Protected Attributes
std::mutex	mutex_
	Mutex for particle filter access.
ros::Timer	particle_cloud_timer_
	Timer for periodic particle cloud updates.
ros::Publisher	particle_cloud_pub_
	Particle cloud publisher.
ros::Publisher	pose_pub_
	Estimated pose publisher.
ros::Timer	save_pose_timer_
	Timer for pose saving.
ros::Subscriber	initial_pose_sub_
	Pose (re)initialization subscriber.
ros::Subscriber	map_sub_
	Occupancy grid map updates subscriber.
ros::Timer	map_timer_
	Timer for repeated map initialization requests.
ros::ServiceServer	set_map_server_
	Map update service server.
ros::ServiceClient	get_map_client_
	Map initialization service client.
ros::ServiceServer	global_localization_server_
	Global relocalization service server.
ros::ServiceServer	nomotion_update_server_
	No motion update service server.
bool	configured_ {false}
	Flag set on first configuration.
beluga_amcl::AmclConfig	config_
	Current beluga_amcl configuration.
beluga_amcl::AmclConfig	default_config_
	Default beluga_amcl configuration.
std::unique_ptr< AmclConfigServer >	config_server_
	beluga_amcl configuration server.
std::unique_ptr< tf2_ros::Buffer >	tf_buffer_
	Transforms buffer.
std::unique_ptr< tf2_ros::TransformBroadcaster >	tf_broadcaster_
	Transforms broadcaster.
std::unique_ptr< tf2_ros::TransformListener >	tf_listener_
	Transforms listener.
diagnostic_updater::Updater	diagnosic_updater_
	Diagnostics updater.
message_filters::Subscriber< sensor_msgs::LaserScan >	laser_scan_sub_
	Laser scan updates subscriber.
std::unique_ptr< tf2_ros::MessageFilter< sensor_msgs::LaserScan > >	laser_scan_filter_
	Transform synchronization filter for laser scan updates.
message_filters::Connection	laser_scan_connection_
	Connection for laser scan updates filter and callback.
std::unique_ptr< beluga_ros::Amcl >	particle_filter_
	Particle filter instance.
std::optional< std::pair< Sophus::SE2d, Eigen::Matrix3d > >	last_known_estimate_
	Last known pose estimate, if any.
std::optional< Sophus::SE2d >	last_known_odom_transform_in_map_
	Last known map to odom correction estimate, if any.
nav_msgs::OccupancyGrid::ConstPtr	last_known_map_
	Last known occupancy grid map.
bool	enable_tf_broadcast_ {false}
	Whether to broadcast transforms or not.

Detailed Description

2D AMCL as a ROS (1) nodelet.

Member Function Documentation

initialize_from_estimate()

bool beluga_amcl::AmclNodelet::initialize_from_estimate ( const std::pair< Sophus::SE2d, Eigen::Matrix3d > &  estimate )

protected

Initialize particles from an estimated pose and covariance.

If an exception occurs during the initialization, an error message is logged, and the initialization process is also aborted, returning false. If the initialization is successful, the TF broadcast is enabled.

Parameters

estimate

A pair representing the estimated pose and covariance for initialization.

Returns

True if the initialization is successful, false otherwise.

initialize_from_map()

bool beluga_amcl::AmclNodelet::initialize_from_map ( )

protected

Initialize particles from map.

If an exception occurs during the initialization, an error message is logged, and the initialization process is also aborted, returning false. If the initialization is successful, the TF broadcast is enabled.

Returns

True if the initialization is successful, false otherwise.

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

• /home/runner/work/beluga/beluga/beluga_amcl/include/beluga_amcl/amcl_nodelet.hpp