Beluga ROS#
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Beluga ROS
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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. |
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