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| AmclNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions()) |
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| | LifecycleNode (const std::string &node_name, const std::string &ns, const rclcpp::NodeOptions &options=rclcpp::NodeOptions()) |
| | A lifecycle node constructor. More...
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| | LifecycleNode (const std::string &node_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions()) |
| | A lifecycle node constructor with no namespace. More...
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| template<typename ParamType > |
| ParamType | declare_or_get_parameter (const std::string ¶meter_name, const ParamType &default_value, const ParameterDescriptor ¶meter_descriptor=ParameterDescriptor()) |
| | Declares or gets a parameter. If the parameter is already declared, returns its value; otherwise declares it and returns the default value. More...
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| template<typename MessageT , typename CallbackT > |
| nav2::Subscription< MessageT >::SharedPtr | create_subscription (const std::string &topic_name, CallbackT &&callback, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr) |
| | Create a subscription to a topic using Nav2 QoS profiles and SubscriptionOptions. More...
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| template<typename MessageT > |
| nav2::Publisher< MessageT >::SharedPtr | create_publisher (const std::string &topic_name, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr) |
| | Create a publisher to a topic using Nav2 QoS profiles and PublisherOptions. More...
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| template<typename ServiceT > |
| nav2::ServiceClient< ServiceT >::SharedPtr | create_client (const std::string &service_name, bool use_internal_executor=false) |
| | Create a ServiceClient to interface with a service. More...
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| template<typename ServiceT > |
| nav2::ServiceServer< ServiceT >::SharedPtr | create_service (const std::string &service_name, typename nav2::ServiceServer< ServiceT >::CallbackType cb, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr) |
| | Create a ServiceServer to host with a service. More...
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| template<typename ActionT > |
| nav2::SimpleActionServer< ActionT >::SharedPtr | create_action_server (const std::string &action_name, typename nav2::SimpleActionServer< ActionT >::ExecuteCallback execute_callback, typename nav2::SimpleActionServer< ActionT >::CompletionCallback compl_cb=nullptr, std::chrono::milliseconds server_timeout=std::chrono::milliseconds(500), bool spin_thread=false, const bool realtime=false) |
| | Create a SimpleActionServer to host with an action. More...
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| template<typename ActionT > |
| nav2::ActionClient< ActionT >::SharedPtr | create_action_client (const std::string &action_name, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr) |
| | Create a ActionClient to call an action using. More...
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nav2::LifecycleNode::SharedPtr | shared_from_this () |
| | Get a shared pointer of this.
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nav2::LifecycleNode::WeakPtr | weak_from_this () |
| | Get a shared pointer of this.
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| nav2::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...
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void | autostart () |
| | Automatically configure and active the node.
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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.
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void | createBond () |
| | Create bond connection to lifecycle manager.
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void | destroyBond () |
| | Destroy bond connection to lifecycle manager.
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nav2::CallbackReturn | on_configure (const rclcpp_lifecycle::State &state) override |
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nav2::CallbackReturn | on_activate (const rclcpp_lifecycle::State &state) override |
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nav2::CallbackReturn | on_deactivate (const rclcpp_lifecycle::State &state) override |
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nav2::CallbackReturn | on_cleanup (const rclcpp_lifecycle::State &state) override |
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nav2::CallbackReturn | on_shutdown (const rclcpp_lifecycle::State &state) override |
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| rcl_interfaces::msg::SetParametersResult | dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters) |
| | Callback executed when a parameter change is detected. More...
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void | mapReceived (const nav_msgs::msg::OccupancyGrid::SharedPtr msg) |
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void | handleMapMessage (const nav_msgs::msg::OccupancyGrid &msg) |
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void | createFreeSpaceVector () |
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void | freeMapDependentMemory () |
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map_t * | convertMap (const nav_msgs::msg::OccupancyGrid &map_msg) |
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void | initTransforms () |
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void | initMessageFilters () |
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void | initPubSub () |
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void | initialPoseReceived (geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) |
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void | laserReceived (sensor_msgs::msg::LaserScan::ConstSharedPtr laser_scan) |
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void | initServices () |
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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) |
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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) |
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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) |
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void | initOdometry () |
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bool | getOdomPose (geometry_msgs::msg::PoseStamped &pose, double &x, double &y, double &yaw, const rclcpp::Time &sensor_timestamp, const std::string &frame_id) |
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void | initParticleFilter () |
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void | initLaserScan () |
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nav2_amcl::Laser * | createLaserObject () |
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bool | checkElapsedTime (std::chrono::seconds check_interval, rclcpp::Time last_time) |
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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) |
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bool | shouldUpdateFilter (const pf_vector_t pose, pf_vector_t &delta) |
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bool | updateFilter (const int &laser_index, const sensor_msgs::msg::LaserScan::ConstSharedPtr &laser_scan, const pf_vector_t &pose) |
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void | publishParticleCloud (const pf_sample_set_t *set) |
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bool | getMaxWeightHyp (std::vector< amcl_hyp_t > &hyps, amcl_hyp_t &max_weight_hyps, int &max_weight_hyp) |
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void | publishAmclPose (const sensor_msgs::msg::LaserScan::ConstSharedPtr &laser_scan, const std::vector< amcl_hyp_t > &hyps, const int &max_weight_hyp) |
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void | calculateMaptoOdomTransform (const sensor_msgs::msg::LaserScan::ConstSharedPtr &laser_scan, const std::vector< amcl_hyp_t > &hyps, const int &max_weight_hyp) |
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void | sendMapToOdomTransform (const tf2::TimePoint &transform_expiration) |
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void | handleInitialPose (geometry_msgs::msg::PoseWithCovarianceStamped &msg) |
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void | initParameters () |
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void | printLifecycleNodeNotification () |
| | Print notifications for lifecycle node.
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| void | register_rcl_preshutdown_callback () |
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| void | runCleanups () |
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rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr | dyn_params_handler_ |
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std::atomic< bool > | active_ {false} |
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rclcpp::CallbackGroup::SharedPtr | callback_group_ |
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rclcpp::executors::SingleThreadedExecutor::SharedPtr | executor_ |
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std::unique_ptr< nav2::NodeThread > | executor_thread_ |
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map_t * | map_ {nullptr} |
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bool | first_map_only_ {true} |
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std::atomic< bool > | first_map_received_ {false} |
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amcl_hyp_t * | initial_pose_hyp_ |
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std::recursive_mutex | mutex_ |
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nav2::Subscription< nav_msgs::msg::OccupancyGrid >::ConstSharedPtr | map_sub_ |
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std::shared_ptr< tf2_ros::TransformBroadcaster > | tf_broadcaster_ |
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std::shared_ptr< tf2_ros::TransformListener > | tf_listener_ |
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std::shared_ptr< tf2_ros::Buffer > | tf_buffer_ |
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bool | sent_first_transform_ {false} |
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bool | latest_tf_valid_ {false} |
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tf2::Transform | latest_tf_ |
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std::unique_ptr< message_filters::Subscriber< sensor_msgs::msg::LaserScan, rclcpp_lifecycle::LifecycleNode > > | laser_scan_sub_ |
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std::unique_ptr< tf2_ros::MessageFilter< sensor_msgs::msg::LaserScan > > | laser_scan_filter_ |
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message_filters::Connection | laser_scan_connection_ |
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nav2::Subscription< geometry_msgs::msg::PoseWithCovarianceStamped >::ConstSharedPtr | initial_pose_sub_ |
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nav2::Publisher< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr | pose_pub_ |
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nav2::Publisher< nav2_msgs::msg::ParticleCloud >::SharedPtr | particle_cloud_pub_ |
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nav2::ServiceServer< std_srvs::srv::Empty >::SharedPtr | global_loc_srv_ |
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nav2::ServiceServer< nav2_msgs::srv::SetInitialPose >::SharedPtr | initial_guess_srv_ |
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nav2::ServiceServer< std_srvs::srv::Empty >::SharedPtr | nomotion_update_srv_ |
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std::atomic< bool > | force_update_ {false} |
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std::shared_ptr< nav2_amcl::MotionModel > | motion_model_ |
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geometry_msgs::msg::PoseStamped | latest_odom_pose_ |
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geometry_msgs::msg::PoseWithCovarianceStamped | last_published_pose_ |
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double | init_pose_ [3] |
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double | init_cov_ [3] |
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| pluginlib::ClassLoader< nav2_amcl::MotionModel > | plugin_loader_ |
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std::atomic< bool > | first_pose_sent_ |
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pf_t * | pf_ {nullptr} |
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bool | pf_init_ |
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pf_vector_t | pf_odom_pose_ |
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int | resample_count_ {0} |
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int | scan_error_count_ {0} |
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std::vector< nav2_amcl::Laser * > | lasers_ |
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std::vector< bool > | lasers_update_ |
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std::map< std::string, int > | frame_to_laser_ |
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rclcpp::Time | last_laser_received_ts_ |
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rclcpp::Time | last_time_printed_msg_ |
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bool | init_pose_received_on_inactive {false} |
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bool | initial_pose_is_known_ {false} |
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bool | set_initial_pose_ {false} |
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bool | always_reset_initial_pose_ |
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double | initial_pose_x_ |
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double | initial_pose_y_ |
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double | initial_pose_z_ |
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double | initial_pose_yaw_ |
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double | alpha1_ |
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double | alpha2_ |
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double | alpha3_ |
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double | alpha4_ |
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double | alpha5_ |
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std::string | base_frame_id_ |
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double | beam_skip_distance_ |
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double | beam_skip_error_threshold_ |
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double | beam_skip_threshold_ |
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bool | do_beamskip_ |
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std::string | global_frame_id_ |
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double | lambda_short_ |
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double | laser_likelihood_max_dist_ |
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double | laser_max_range_ |
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double | laser_min_range_ |
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std::string | sensor_model_type_ |
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int | max_beams_ |
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int | max_particles_ |
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int | min_particles_ |
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std::string | odom_frame_id_ |
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double | pf_err_ |
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double | pf_z_ |
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double | alpha_fast_ |
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double | alpha_slow_ |
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int | resample_interval_ |
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std::string | robot_model_type_ |
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tf2::Duration | save_pose_period_ |
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double | sigma_hit_ |
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bool | tf_broadcast_ |
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tf2::Duration | transform_tolerance_ |
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double | a_thresh_ |
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double | d_thresh_ |
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double | z_hit_ |
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double | z_max_ |
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double | z_short_ |
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double | z_rand_ |
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std::string | scan_topic_ {"scan"} |
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std::string | map_topic_ {"map"} |
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bool | freespace_downsampling_ = false |
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std::unique_ptr< rclcpp::PreShutdownCallbackHandle > | rcl_preshutdown_cb_handle_ {nullptr} |
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std::shared_ptr< bond::Bond > | bond_ {nullptr} |
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double | bond_heartbeat_period {0.1} |
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rclcpp::TimerBase::SharedPtr | autostart_timer_ |
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Definition at line 59 of file amcl_node.hpp.
Public Member Functions inherited from nav2::LifecycleNode