beluga_ros Namespace Reference

The main Beluga ROS namespace. More...

Classes
struct	AmclParams
	Struct containing parameters for the Adaptive Monte Carlo Localization (AMCL) implementation. More...
class	Amcl
class	LaserScan
	Thin wrapper type for 2D sensor_msgs/LaserScan messages. More...
class	OccupancyGrid
	Thin wrapper type for 2D nav_msgs/OccupancyGrid messages. More...
class	PointCloud3
	Thin wrapper type for 3D sensor_msgs/PointCloud2 messages with dense layouts. More...
class	SparsePointCloud3
	Thin wrapper for 3D sensor_msgs/PointCloud2 messages with potentially sparse layouts. More...

Typedefs
using	PointCloud3d = PointCloud3< double, false >
	Non-strict alias for PointCloud3 of double type.
using	PointCloud3f = PointCloud3< float, false >
	Non-strict alias for PointCloud3 of float type.
using	SparsePointCloud3d = SparsePointCloud3< double, false >
	Non-strict alias for SparsePointCloud3 of double type.
using	SparsePointCloud3f = SparsePointCloud3< float, false >
	Non-strict alias for SparsePointCloud3 of float type.

Functions
template<typename T >
void	assign_likelihood_field (const beluga::ValueGrid2< T > &likelihood_field, const Sophus::SE2d &origin, nav_msgs::msg::OccupancyGrid &message)
	Convert from likelihood data to ROS2 message.
template<class Message >
Message &	stamp_message (std::string_view frame_id, rclcpp::Time timestamp, Message &message)
	Stamp a message with a frame ID and timestamp. More...
visualization_msgs::msg::MarkerArray &	stamp_message (std::string_view frame_id, rclcpp::Time timestamp, visualization_msgs::msg::MarkerArray &message)
	Stamp all markers in a marker array message with a frame ID and timestamp. More...
template<typename MapType , int NDim>
std::pair< visualization_msgs::msg::MarkerArray, bool >	assign_obstacle_map (const beluga::SparseValueGrid< MapType, NDim > &grid, visualization_msgs::msg::MarkerArray &message)
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t< std::is_same_v<State, typename Sophus::SE2<Scalar>> || std::is_same_v<State, typename Sophus::SE3<Scalar>>>>
geometry_msgs::msg::PoseArray &	assign_particle_cloud (Particles &&particles, std::size_t size, geometry_msgs::msg::PoseArray &message)
	Assign a pose distribution to a particle cloud message. More...
template<class Particles , class Message >
Message &	assign_particle_cloud (Particles &&particles, Message &message)
	Assign a distribution to a particle cloud message. More...
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Weight = typename beluga::weight_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t< std::is_same_v<State, typename Sophus::SE2<Scalar>> || std::is_same_v<State, typename Sophus::SE3<Scalar>>>>
visualization_msgs::msg::MarkerArray &	assign_particle_cloud (Particles &&particles, Scalar linear_resolution, Scalar angular_resolution, visualization_msgs::msg::MarkerArray &message)
	Assign a pose distribution to a markers message for visualization. More...
template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Scalar = typename State::Scalar>
visualization_msgs::msg::MarkerArray &	assign_particle_cloud (Particles &&particles, visualization_msgs::msg::MarkerArray &message)
	Assign a pose distribution to a markers message for visualization with suitable resolutions. More...

Detailed Description

The main Beluga ROS namespace.

Function Documentation

assign_obstacle_map()

template<typename MapType , int NDim>

std::pair<visualization_msgs::msg::MarkerArray, bool> beluga_ros::assign_obstacle_map	(	const beluga::SparseValueGrid< MapType, NDim > &	grid,
		visualization_msgs::msg::MarkerArray &	message
	)

Assign an ellipsoid to each cell of a SparseValueGrid. A cube is used instead if the distribution of the cell is not suitable for the rotation matrix creation.

Parameters

	grid	A SparseValueGrid that contains cells representing obstacles.
[out]	message	A MarkerArray that will contain the shapes

Returns

A std::pair with the MarkerArray containing the shapes and a boolean indicating if at least one cube was generated.

Template Parameters

MapType	Container that maps from Eigen::Vector<int, NDim> to the type of the cell. See SparseValueGrid.
NDim	Dimension of the grid.

assign_particle_cloud() [1/4]

template<class Particles , class Message >

Message& beluga_ros::assign_particle_cloud	(	Particles &&	particles,
		Message &	message
	)

Assign a distribution to a particle cloud message.

Particle cloud sample size will match that of the given distribution.

Parameters

	particles	Distribution to sample, as a particle cloud itself.
[out]	message	Particle cloud message to be assigned.

Template Parameters

Particles

A sized range type whose value type satisfies Particle named requirements.

assign_particle_cloud() [2/4]

template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Weight = typename beluga::weight_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t< std::is_same_v<State, typename Sophus::SE2<Scalar>> || std::is_same_v<State, typename Sophus::SE3<Scalar>>>>

visualization_msgs::msg::MarkerArray& beluga_ros::assign_particle_cloud	(	Particles &&	particles,
		Scalar	linear_resolution,
		Scalar	angular_resolution,
		visualization_msgs::msg::MarkerArray &	message
	)

Assign a pose distribution to a markers message for visualization.

Parameters

	particles	Pose distribution, as a particle cloud itself.
	linear_resolution	Linear resolution, in meters, for visualization.
	angular_resolution	Angular resolution, in radians, for visualization.
[out]	message	Markers message to be assigned.

Template Parameters

Particles

A sized range type whose value type satisfies Particle named requirements.

assign_particle_cloud() [3/4]

template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t< std::is_same_v<State, typename Sophus::SE2<Scalar>> || std::is_same_v<State, typename Sophus::SE3<Scalar>>>>

geometry_msgs::msg::PoseArray& beluga_ros::assign_particle_cloud	(	Particles &&	particles,
		std::size_t	size,
		geometry_msgs::msg::PoseArray &	message
	)

Assign a pose distribution to a particle cloud message.

Parameters

	particles	Pose distribution, as a particle cloud itself.
	size	Sample size of the particle cloud.
[out]	message	Particle cloud message to be assigned.

Template Parameters

Particles

A sized range type whose value type satisfies Particle named requirements.

assign_particle_cloud() [4/4]

template<class Particles , class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Scalar = typename State::Scalar>

visualization_msgs::msg::MarkerArray& beluga_ros::assign_particle_cloud	(	Particles &&	particles,
		visualization_msgs::msg::MarkerArray &	message
	)

Assign a pose distribution to a markers message for visualization with suitable resolutions.

Parameters

	particles	Pose distribution, as a particle cloud itself.
[out]	message	Markers message to be assigned.

Template Parameters

Particles

A sized range type whose value type satisfies Particle named requirements.

stamp_message() [1/2]

template<class Message >

Message& beluga_ros::stamp_message	(	std::string_view	frame_id,
		rclcpp::Time	timestamp,
		Message &	message
	)

Stamp a message with a frame ID and timestamp.

Parameters

	frame_id	Frame ID to stamp the message with.
	timestamp	Time to stamp the message at.
[out]	message	Message to be stamped.

Template Parameters

Message

A message type with a header.

stamp_message() [2/2]

visualization_msgs::msg::MarkerArray& beluga_ros::stamp_message ( std::string_view  frame_id, rclcpp::Time  timestamp, visualization_msgs::msg::MarkerArray &  message  )

inline

Stamp all markers in a marker array message with a frame ID and timestamp.

Parameters

	frame_id	Frame ID to stamp markers with.
	timestamp	Time to stamp markers at.
[out]	message	Message to be stamped.