nav2_costmap_2d::FootprintSubscriber Class Reference

Subscriber to the footprint topic to get current robot footprint (if changing) for use in collision avoidance. More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp>

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Public Member Functions
template<typename NodeT >
	FootprintSubscriber (const NodeT &parent, const std::string &topic_name, tf2_ros::Buffer &tf, std::string robot_base_frame="base_link", double transform_tolerance=0.1)
	A constructor.
	~FootprintSubscriber ()
	A destructor.
bool	getFootprintRaw (std::vector< geometry_msgs::msg::Point > &footprint, std_msgs::msg::Header &footprint_header)
	Returns the latest robot footprint, in the form as received from topic (oriented). More...
bool	getFootprintInRobotFrame (std::vector< geometry_msgs::msg::Point > &footprint, std_msgs::msg::Header &footprint_header)
	Returns the latest robot footprint, transformed into robot base frame (unoriented). More...

Protected Member Functions
void	footprint_callback (const geometry_msgs::msg::PolygonStamped::SharedPtr msg)
	Callback to process new footprint updates.

Protected Attributes
tf2_ros::Buffer &	tf_
std::string	robot_base_frame_
double	transform_tolerance_
bool	footprint_received_ {false}
geometry_msgs::msg::PolygonStamped::SharedPtr	footprint_
nav2::Subscription< geometry_msgs::msg::PolygonStamped >::SharedPtr	footprint_sub_

Detailed Description

Subscriber to the footprint topic to get current robot footprint (if changing) for use in collision avoidance.

Definition at line 33 of file footprint_subscriber.hpp.

Member Function Documentation

getFootprintInRobotFrame()

bool nav2_costmap_2d::FootprintSubscriber::getFootprintInRobotFrame	(	std::vector< geometry_msgs::msg::Point > &	footprint,
		std_msgs::msg::Header &	footprint_header
	)

Returns the latest robot footprint, transformed into robot base frame (unoriented).

Parameters

footprint	Output param. Latest received footprint, unoriented
footprint_header	Output param. Header associated with the footprint

Returns

False if no footprint has been received or if transformation failed

Definition at line 45 of file footprint_subscriber.cpp.

References getFootprintRaw(), and nav2_costmap_2d::transformFootprint().

Referenced by nav2_costmap_2d::CostmapTopicCollisionChecker::getFootprint().

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getFootprintRaw()

bool nav2_costmap_2d::FootprintSubscriber::getFootprintRaw	(	std::vector< geometry_msgs::msg::Point > &	footprint,
		std_msgs::msg::Header &	footprint_header
	)

Returns the latest robot footprint, in the form as received from topic (oriented).

Parameters

footprint	Output param. Latest received footprint
footprint_header	Output param. Header associated with the footprint

Returns

False if no footprint has been received

Definition at line 29 of file footprint_subscriber.cpp.

References nav2_costmap_2d::toPointVector().

Referenced by getFootprintInRobotFrame().

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

• nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp
• nav2_costmap_2d/src/footprint_subscriber.cpp