beluga_amcl::BaseAMCLNode Class Reference

#include <ros2_common.hpp>

Inheritance diagram for beluga_amcl::BaseAMCLNode:

Collaboration diagram for beluga_amcl::BaseAMCLNode:

Public Member Functions
	BaseAMCLNode (const std::string &node_name="amcl", const std::string &node_namespace="", const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions{})
	Constructor, following LifecycleNode signature.
	~BaseAMCLNode () override
	Destructor for the base AMCL node.

Protected Member Functions
CallbackReturn	on_configure (const rclcpp_lifecycle::State &) override
	Callback for lifecycle transitions from the UNCONFIGURED state to the INACTIVE state.
CallbackReturn	on_activate (const rclcpp_lifecycle::State &) override
	Callback for lifecycle transitions from the INACTIVE state to the ACTIVE state.
CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &) override
	Callback for lifecycle transitions from the ACTIVE state to the INACTIVE state.
CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &) override
	Callback for lifecycle transitions from the INACTIVE state to the UNCONFIGURED state.
CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &) override
	Callback for lifecycle transitions from most states to the FINALIZED state.
auto	get_execution_policy () const -> ExecutionPolicyVariant
	Get execution policy from parameters.
void	periodic_timer_callback ()
	Callback for the periodic particle updates.
void	autostart_callback ()
	Callback for the autostart timer.
virtual void	do_autostart_callback ()
	User provided extra steps for the autostart process.
virtual void	do_configure ([[maybe_unused]] const rclcpp_lifecycle::State &state)
	Extra steps for the on_configure callback. Defaults to no-op.
virtual void	do_deactivate ([[maybe_unused]] const rclcpp_lifecycle::State &state)
	Extra steps for the on_deactivate callback. Defaults to no-op.
virtual void	do_shutdown ([[maybe_unused]] const rclcpp_lifecycle::State &state)
	Extra steps for the on_shutdown callback. Defaults to no-op.
virtual void	do_cleanup ([[maybe_unused]] const rclcpp_lifecycle::State &state)
	Extra steps for the on_cleanup callback. Defaults to no-op.
virtual void	do_activate ([[maybe_unused]] const rclcpp_lifecycle::State &state)
	Extra steps for the on_activate callback. Defaults to no-op.
virtual void	do_periodic_timer_callback ()
	Extra steps for the periodic updates timer callback events. Defaults to no-op.
virtual void	do_initial_pose_callback ([[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)
	Extra steps for (re)initialization messages.
void	initial_pose_callback (geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)
	Callback for (re)initialization messages.

Protected Attributes
rclcpp_lifecycle::LifecyclePublisher< geometry_msgs::msg::PoseArray >::SharedPtr	particle_cloud_pub_
	Particle cloud publisher.
rclcpp_lifecycle::LifecyclePublisher< visualization_msgs::msg::MarkerArray >::SharedPtr	particle_markers_pub_
	Particle markers publisher.
rclcpp_lifecycle::LifecyclePublisher< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr	pose_pub_
	Estimated pose publisher.
std::unique_ptr< bond::Bond >	bond_
	Node bond with the lifecycle manager.
rclcpp::TimerBase::SharedPtr	timer_
	Timer for periodic particle cloud updates.
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.
rclcpp::TimerBase::SharedPtr	autostart_timer_
	Timer for node to configure and activate itself.
rclcpp::CallbackGroup::SharedPtr	common_callback_group_
	Common mutually exclusive callback group.
rclcpp::SubscriptionOptions	common_subscription_options_
	Common subscription options.
rclcpp::Subscription< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr	initial_pose_sub_
	Pose (re)initialization subscription.

Detailed Description

Base AMCL lifecycle node, with some basic common functionalities, such as transform tree utilities, common publishers, subscribers, lifecycle related callbacks and configuration points, enabling extension by inheritance.

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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/ros2_common.hpp