Public Member Functions
	OdomSubscriber (nav2_util::LifecycleNode::SharedPtr nh, std::string default_topic="odom")
	Constructor that subscribes to an Odometry topic. More...

nav_2d_msgs::msg::Twist2D	getTwist ()

nav_2d_msgs::msg::Twist2DStamped	getTwistStamped ()

Protected Member Functions
void	odomCallback (const nav_msgs::msg::Odometry::SharedPtr msg)

Protected Attributes
rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	odom_sub_

nav_2d_msgs::msg::Twist2DStamped	odom_vel_

std::mutex	odom_mutex_

Detailed Description

Wrapper for some common odometry operations. Subscribes to the topic with a mutex.

Definition at line 55 of file odom_subscriber.hpp.

Constructor & Destructor Documentation

nav_2d_utils::OdomSubscriber::OdomSubscriber	(	nav2_util::LifecycleNode::SharedPtr	nh,
		std::string	default_topic = `"odom"`
	)

inlineexplicit

Constructor that subscribes to an Odometry topic.

Parameters

nh	NodeHandle for creating subscriber
default_topic	Name of the topic that will be loaded of the odom_topic param is not set.

Definition at line 64 of file odom_subscriber.hpp.

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