nav2_util::OdomSmoother Class Reference

#include <nav2_util/include/nav2_util/odometry_utils.hpp>

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Public Member Functions
	OdomSmoother (const rclcpp::Node::WeakPtr &parent, double filter_duration=0.3, const std::string &odom_topic="odom")
	Constructor that subscribes to an Odometry topic. More...
	OdomSmoother (const nav2_util::LifecycleNode::WeakPtr &parent, double filter_duration=0.3, const std::string &odom_topic="odom")
	Overloadded Constructor for nav_util::LifecycleNode parent that subscribes to an Odometry topic. More...
geometry_msgs::msg::Twist	getTwist ()
	Get twist msg from smoother. More...
geometry_msgs::msg::TwistStamped	getTwistStamped ()
	Get twist stamped msg from smoother. More...
geometry_msgs::msg::Twist	getRawTwist ()
	Get raw twist msg from smoother (without smoothing) More...
geometry_msgs::msg::TwistStamped	getRawTwistStamped ()
	Get raw twist stamped msg from smoother (without smoothing) More...

Protected Member Functions
void	odomCallback (nav_msgs::msg::Odometry::SharedPtr msg)
	Callback of odometry subscriber to process. More...
void	updateState ()
	Update internal state of the smoother after getting new data.

Protected Attributes
bool	received_odom_
rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	odom_sub_
nav_msgs::msg::Odometry	odom_cumulate_
geometry_msgs::msg::TwistStamped	vel_smooth_
std::mutex	odom_mutex_
rclcpp::Duration	odom_history_duration_
std::deque< nav_msgs::msg::Odometry >	odom_history_

Detailed Description

Wrapper for getting smooth odometry readings using a simple moving average. Subscribes to the topic with a mutex.

Definition at line 41 of file odometry_utils.hpp.

Constructor & Destructor Documentation

OdomSmoother() [1/2]

nav2_util::OdomSmoother::OdomSmoother ( const rclcpp::Node::WeakPtr &  parent, double  filter_duration = 0.3, const std::string &  odom_topic = "odom"  )

explicit

Constructor that subscribes to an Odometry topic.

Parameters

parent	NodeHandle for creating subscriber
filter_duration	Duration for odom history (seconds)
odom_topic	Topic on which odometry should be received

Definition at line 26 of file odometry_utils.cpp.

References odomCallback().

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OdomSmoother() [2/2]

nav2_util::OdomSmoother::OdomSmoother ( const nav2_util::LifecycleNode::WeakPtr &  parent, double  filter_duration = 0.3, const std::string &  odom_topic = "odom"  )

explicit

Overloadded Constructor for nav_util::LifecycleNode parent that subscribes to an Odometry topic.

Parameters

parent	NodeHandle for creating subscriber
filter_duration	Duration for odom history (seconds)
odom_topic	Topic on which odometry should be received

Definition at line 46 of file odometry_utils.cpp.

References odomCallback().

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Member Function Documentation

getRawTwist()

geometry_msgs::msg::Twist nav2_util::OdomSmoother::getRawTwist ( )

inline

Get raw twist msg from smoother (without smoothing)

Returns

twist Twist msg

Definition at line 103 of file odometry_utils.hpp.

getRawTwistStamped()

geometry_msgs::msg::TwistStamped nav2_util::OdomSmoother::getRawTwistStamped ( )

inline

Get raw twist stamped msg from smoother (without smoothing)

Returns

twist TwistStamped msg

Definition at line 119 of file odometry_utils.hpp.

getTwist()

geometry_msgs::msg::Twist nav2_util::OdomSmoother::getTwist ( )

inline

Get twist msg from smoother.

Returns

twist Twist msg

Definition at line 71 of file odometry_utils.hpp.

getTwistStamped()

geometry_msgs::msg::TwistStamped nav2_util::OdomSmoother::getTwistStamped ( )

inline

Get twist stamped msg from smoother.

Returns

twist TwistStamped msg

Definition at line 87 of file odometry_utils.hpp.

odomCallback()

void nav2_util::OdomSmoother::odomCallback ( nav_msgs::msg::Odometry::SharedPtr  msg )

protected

Callback of odometry subscriber to process.

Parameters

msg	Odometry msg to smooth

Definition at line 66 of file odometry_utils.cpp.

References updateState().

Referenced by OdomSmoother().

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

• nav2_util/include/nav2_util/odometry_utils.hpp
• nav2_util/src/odometry_utils.cpp