Class LocalizationNode

roborts_localization/localization_node.h:47–158

namespace roborts_localization {

class LocalizationNode {
 public:

  /**
   * @brief Localization Node construct function
   * @param name Node name
   */
  LocalizationNode(std::string name);

  /**
   * @brief Localization initialization
   * @return Returns true if initialize success
   */
  bool Init();

  /**
   * @brief Laser scan messages callback function (as main loop in localization node)
   * @param laser_scan_msg Laser scan data
   */
  void LaserScanCallback(const sensor_msgs::LaserScan::ConstPtr &laser_scan_msg);

  /**
   * @brief Manually initialize localization init_pose
   * @param init_pose_msg Init pose (2D Pose Estimate button in RViz)
   */
  void InitialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &init_pose_msg);

  /**
   * @brief Publish visualize messages
   */
  void PublishVisualize();

  /**
   * @brief Publish transform information between odom_frame and global_frame
   * @return True if no errors
   */
  bool PublishTf();

 private:

  bool GetPoseFromTf(const std::string &target_frame,
                     const std::string &source_frame,
                     const ros::Time &timestamp,
                     Vec3d &pose);

  bool GetStaticMap();

  bool GetLaserPose();

  void TransformLaserscanToBaseFrame(double &angle_min,
                                     double &angle_increment,
                                     const sensor_msgs::LaserScan &laser_scan_msg);
 private:
  //Mutex
  std::mutex mutex_;

  //Algorithm object
  std::unique_ptr<Amcl> amcl_ptr_;