Republishes the base_link frame as base_footprint stripping away the Z, Roll, and Pitch of the full 3D state to provide a 2D projection for navigation when state estimation is full 3D.
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#include <nav2_util/src/base_footprint_publisher.hpp>
Inheritance diagram for nav2_util::BaseFootprintPublisher:
Collaboration diagram for nav2_util::BaseFootprintPublisher:
Public Member Functions | |
| BaseFootprintPublisher (const rclcpp::NodeOptions &options=rclcpp::NodeOptions()) | |
| A constructor. | |
Protected Attributes | |
| std::shared_ptr< tf2_ros::Buffer > | tf_buffer_ |
| std::shared_ptr< BaseFootprintPublisherListener > | listener_publisher_ |
Detailed Description
Republishes the base_link frame as base_footprint stripping away the Z, Roll, and Pitch of the full 3D state to provide a 2D projection for navigation when state estimation is full 3D.
Definition at line 103 of file base_footprint_publisher.hpp.
The documentation for this class was generated from the following file:
- nav2_util/src/base_footprint_publisher.hpp
