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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 ParameterT > |
| ParameterT | declare_or_get_parameter (const std::string ¶meter_name, const ParameterDescriptor ¶meter_descriptor=ParameterDescriptor()) |
| | Declares or gets a parameter with specified type (not value). If the parameter is already declared, returns its value; otherwise declares it with the specified type. 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 | validateParameterUpdatesCallback (std::vector< rclcpp::Parameter > parameters) |
| | Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...
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| void | updateParametersCallback (std::vector< rclcpp::Parameter > parameters) |
| | Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. 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::PostSetParametersCallbackHandle::SharedPtr | post_set_params_handler_ |
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rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr | on_set_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