Beluga ROS

Beluga ROS#

Beluga ROS: API Reference
Beluga ROS
API Reference

This is the API reference for Beluga ROS. It provides utilities to aid Beluga integration with ROS and ROS 2.

Components

Explore the library's components:

Generic filters

Generic MCL implementations ready for ROS integration.

beluga_ros::Amcl 2D lidar Adaptive MCL algorithm, functionally equivalent to that of Nav2 AMCL.

Data structures

Thin, Beluga-compatible wrappers for typical ROS data structures (usually messages).

beluga_ros::LaserScan A beluga::BaseLaserScan subclass that wraps sensor_msgs/LaserScan messages.
beluga_ros::OccupancyGrid A beluga::BaseOccupancyGrid2 subclass that wraps nav_msgs/OccupancyGrid messages.

Utilities

particle_cloud.hpp APIs for particle cloud I/O over ROS interfaces.
tf2_eigen.hpp tf2 message conversion API overloads for Eigen types.
tf2_sophus.hpp tf2 message conversion API overloads for Sophus types.