Inheritance diagram for nav2_amcl::AmclNode:

Collaboration diagram for nav2_amcl::AmclNode:

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Classes
struct	amcl_hyp_t

Public Member Functions
	AmclNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())

Public Member Functions inherited from nav2_util::LifecycleNode
	LifecycleNode (const std::string &node_name, const std::string &ns="", const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has no integer or floating point range constraints. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const floating_point_range fp_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has a floating point range constraint. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const integer_range int_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has an integer range constraint. More...

std::shared_ptr< nav2_util::LifecycleNode >	shared_from_this ()
	Get a shared pointer of this.

nav2_util::CallbackReturn	on_error (const rclcpp_lifecycle::State &)
	Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine. More...

virtual void	on_rcl_preshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine.

void	createBond ()
	Create bond connection to lifecycle manager.

void	destroyBond ()
	Destroy bond connection to lifecycle manager.

Protected Member Functions
nav2_util::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override

nav2_util::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override

nav2_util::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override

nav2_util::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override

nav2_util::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

void	mapReceived (const nav_msgs::msg::OccupancyGrid::SharedPtr msg)

void	handleMapMessage (const nav_msgs::msg::OccupancyGrid &msg)

void	createFreeSpaceVector ()

void	freeMapDependentMemory ()

map_t *	convertMap (const nav_msgs::msg::OccupancyGrid &map_msg)

void	initTransforms ()

void	initMessageFilters ()

void	initPubSub ()

void	initialPoseReceived (geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg)

void	laserReceived (sensor_msgs::msg::LaserScan::ConstSharedPtr laser_scan)

void	initServices ()

void	globalLocalizationCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< std_srvs::srv::Empty::Request > request, std::shared_ptr< std_srvs::srv::Empty::Response > response)

void	initialPoseReceivedSrv (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::SetInitialPose::Request > request, std::shared_ptr< nav2_msgs::srv::SetInitialPose::Response > response)

void	nomotionUpdateCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< std_srvs::srv::Empty::Request > request, std::shared_ptr< std_srvs::srv::Empty::Response > response)

void	initOdometry ()

bool	getOdomPose (geometry_msgs::msg::PoseStamped &pose, double &x, double &y, double &yaw, const rclcpp::Time &sensor_timestamp, const std::string &frame_id)

void	initParticleFilter ()

void	initLaserScan ()

nav2_amcl::Laser *	createLaserObject ()

bool	checkElapsedTime (std::chrono::seconds check_interval, rclcpp::Time last_time)

bool	addNewScanner (int &laser_index, const sensor_msgs::msg::LaserScan::ConstSharedPtr &laser_scan, const std::string &laser_scan_frame_id, geometry_msgs::msg::PoseStamped &laser_pose)

bool	shouldUpdateFilter (const pf_vector_t pose, pf_vector_t &delta)

bool	updateFilter (const int &laser_index, const sensor_msgs::msg::LaserScan::ConstSharedPtr &laser_scan, const pf_vector_t &pose)

void	publishParticleCloud (const pf_sample_set_t *set)

bool	getMaxWeightHyp (std::vector< amcl_hyp_t > &hyps, amcl_hyp_t &max_weight_hyps, int &max_weight_hyp)

void	publishAmclPose (const sensor_msgs::msg::LaserScan::ConstSharedPtr &laser_scan, const std::vector< amcl_hyp_t > &hyps, const int &max_weight_hyp)

void	calculateMaptoOdomTransform (const sensor_msgs::msg::LaserScan::ConstSharedPtr &laser_scan, const std::vector< amcl_hyp_t > &hyps, const int &max_weight_hyp)

void	sendMapToOdomTransform (const tf2::TimePoint &transform_expiration)

void	handleInitialPose (geometry_msgs::msg::PoseWithCovarianceStamped &msg)

void	initParameters ()

Protected Member Functions inherited from nav2_util::LifecycleNode
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Static Protected Member Functions
static pf_vector_t	uniformPoseGenerator (void *arg)

Protected Attributes
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

std::atomic< bool >	active_ {false}

rclcpp::CallbackGroup::SharedPtr	callback_group_

rclcpp::executors::SingleThreadedExecutor::SharedPtr	executor_

std::unique_ptr< nav2_util::NodeThread >	executor_thread_

map_t *	map_ {nullptr}

bool	first_map_only_ {true}

std::atomic< bool >	first_map_received_ {false}

amcl_hyp_t *	initial_pose_hyp_

std::recursive_mutex	mutex_

rclcpp::Subscription< nav_msgs::msg::OccupancyGrid >::ConstSharedPtr	map_sub_

std::shared_ptr< tf2_ros::TransformBroadcaster >	tf_broadcaster_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_

bool	sent_first_transform_ {false}

bool	latest_tf_valid_ {false}

tf2::Transform	latest_tf_

std::unique_ptr< message_filters::Subscriber< sensor_msgs::msg::LaserScan, rclcpp_lifecycle::LifecycleNode > >	laser_scan_sub_

std::unique_ptr< tf2_ros::MessageFilter< sensor_msgs::msg::LaserScan > >	laser_scan_filter_

message_filters::Connection	laser_scan_connection_

rclcpp::Subscription< geometry_msgs::msg::PoseWithCovarianceStamped >::ConstSharedPtr	initial_pose_sub_

rclcpp_lifecycle::LifecyclePublisher< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr	pose_pub_

rclcpp_lifecycle::LifecyclePublisher< nav2_msgs::msg::ParticleCloud >::SharedPtr	particle_cloud_pub_

rclcpp::Service< std_srvs::srv::Empty >::SharedPtr	global_loc_srv_

rclcpp::Service< nav2_msgs::srv::SetInitialPose >::SharedPtr	initial_guess_srv_

rclcpp::Service< std_srvs::srv::Empty >::SharedPtr	nomotion_update_srv_

std::atomic< bool >	force_update_ {false}

std::shared_ptr< nav2_amcl::MotionModel >	motion_model_

geometry_msgs::msg::PoseStamped	latest_odom_pose_

geometry_msgs::msg::PoseWithCovarianceStamped	last_published_pose_

double	init_pose_ [3]

double	init_cov_ [3]

pluginlib::ClassLoader< nav2_amcl::MotionModel >	plugin_loader_

std::atomic< bool >	first_pose_sent_

pf_t *	pf_ {nullptr}

bool	pf_init_

pf_vector_t	pf_odom_pose_

int	resample_count_ {0}

int	scan_error_count_ {0}

std::vector< nav2_amcl::Laser * >	lasers_

std::vector< bool >	lasers_update_

std::map< std::string, int >	frame_to_laser_

rclcpp::Time	last_laser_received_ts_

rclcpp::Time	last_time_printed_msg_

bool	init_pose_received_on_inactive {false}

bool	initial_pose_is_known_ {false}

bool	set_initial_pose_ {false}

bool	always_reset_initial_pose_

double	initial_pose_x_

double	initial_pose_y_

double	initial_pose_z_

double	initial_pose_yaw_

double	alpha1_

double	alpha2_

double	alpha3_

double	alpha4_

double	alpha5_

std::string	base_frame_id_

double	beam_skip_distance_

double	beam_skip_error_threshold_

double	beam_skip_threshold_

bool	do_beamskip_

std::string	global_frame_id_

double	lambda_short_

double	laser_likelihood_max_dist_

double	laser_max_range_

double	laser_min_range_

std::string	sensor_model_type_

int	max_beams_

int	max_particles_

int	min_particles_

std::string	odom_frame_id_

double	pf_err_

double	pf_z_

double	alpha_fast_

double	alpha_slow_

int	resample_interval_

std::string	robot_model_type_

tf2::Duration	save_pose_period_

double	sigma_hit_

bool	tf_broadcast_

tf2::Duration	transform_tolerance_

double	a_thresh_

double	d_thresh_

double	z_hit_

double	z_max_

double	z_short_

double	z_rand_

std::string	scan_topic_ {"scan"}

std::string	map_topic_ {"map"}

Protected Attributes inherited from nav2_util::LifecycleNode
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

std::unique_ptr< bond::Bond >	bond_ {nullptr}

Static Protected Attributes
static std::vector< std::pair< int, int > >	free_space_indices

Detailed Description

Definition at line 60 of file amcl_node.hpp.

Member Function Documentation

◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_amcl::AmclNode::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 1148 of file amcl_node.cpp.

Member Data Documentation

◆ plugin_loader_

pluginlib::ClassLoader<nav2_amcl::MotionModel> nav2_amcl::AmclNode::plugin_loader_

protected

Initial value:

{"nav2_amcl",

"nav2_amcl::MotionModel"}

Definition at line 247 of file amcl_node.hpp.

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

nav2_amcl/include/nav2_amcl/amcl_node.hpp
nav2_amcl/src/amcl_node.cpp

Classes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Function Documentation

◆ dynamicParametersCallback()

Member Data Documentation

◆ plugin_loader_