Class RosRobotLocalizationListener

Class Documentation

class RosRobotLocalizationListener

RosRobotLocalizationListener class.

This class wraps the RobotLocalizationEstimator. It listens to topics over which the (filtered) robot state is published (odom and accel) and pushes them into its instance of the RobotLocalizationEstimator. It exposes a getState method to offer the user the estimated state at a requested time. This class offers the option to run this listener without the need to run a separate node. If you do wish to run this functionality in a separate node, consider the robot localization listener node.

Public Functions

explicit RosRobotLocalizationListener(rclcpp::Node::SharedPtr node, rclcpp::SubscriptionOptions options = detail::get_subscription_options_with_default_qos_override_policies())

Constructor.

The RosRobotLocalizationListener constructor initializes nodehandles, subscribers, a filter for synchronized listening to the topics it subscribes to, and an instance of the RobotLocalizationEstimator.

Parameters:

node – [in] - rclcpp node shared pointer

~RosRobotLocalizationListener()

Destructor.

Empty destructor

bool getState(const double time, const std::string &frame_id, Eigen::VectorXd &state, Eigen::MatrixXd &covariance, std::string world_frame_id = "") const

Get a state from the localization estimator.

Requests the predicted state and covariance at a given time from the Robot Localization Estimator.

Parameters:

  • time – [in] - time of the requested state

  • frame_id – [in] - frame id of which the state is requested.

  • state – [out] - state at the requested time

  • covariance – [out] - covariance at the requested time

Returns:

false if buffer is empty, true otherwise

bool getState(const rclcpp::Time &rclcpp_time, const std::string &frame_id, Eigen::VectorXd &state, Eigen::MatrixXd &covariance, const std::string &world_frame_id = "") const

Get a state from the localization estimator.

Overload of getState method for using ros::Time.

Parameters:

  • rclcpp_time – [in] - ros time of the requested state

  • frame_id – [in] - frame id of which the state is requested.

  • state – [out] - state at the requested time

  • covariance – [out] - covariance at the requested time

Returns:

false if buffer is empty, true otherwise

const std::string &getBaseFrameId() const

getBaseFrameId Returns the base frame id of the localization listener

Returns:

The base frame id

const std::string &getWorldFrameId() const

getWorldFrameId Returns the world frame id of the localization listener

Returns:

The world frame id