Class representing the main SLAM node responsible for publishing the calculated pose and map. More...

#include <slam_node.hpp>

Inheritance diagram for SLAMNode:

Collaboration diagram for SLAMNode:

Public Member Functions
	SLAMNode (const SLAMParameters &params)
	Constructor that uses the parameters structure.

void	init ()
	Initialize functions @description This method is used to initialize things that require the constructed node.

virtual void	finish ()=0
	Finish the mission.

Protected Member Functions
void	_perception_subscription_callback (const custom_interfaces::msg::PerceptionOutput &msg)
	Callback that updates everytime information is received from the perception module.

void	_velocities_subscription_callback (const custom_interfaces::msg::Velocities &msg)
	Callback that updates everytime information is received from velocity estimation node.

void	_imu_subscription_callback (const sensor_msgs::msg::Imu &msg)
	Callback that updates everytime information is received from the IMU.

void	_publish_vehicle_pose ()
	publishes the localization ('vehicle_pose') to the topic vehicle_pose

void	_publish_map ()
	publishes the map ('track_map') to the topic track_map

void	_publish_associations ()
	Publishes the visualization of the associations by data association.

void	_publish_covariance ()
	publishes the covariance of the state

void	_publish_lap_counter ()
	publishes the lap counter

bool	_is_mission_finished ()
	Checks if the mission is finished.

Protected Attributes
rclcpp::CallbackGroup::SharedPtr	_callback_group_
	Callback group for subscriptions, used to control if they are concurrent or not.

rclcpp::Subscription< custom_interfaces::msg::PerceptionOutput >::SharedPtr	_perception_subscription_

rclcpp::Subscription< custom_interfaces::msg::Velocities >::SharedPtr	_velocities_subscription_

rclcpp::Publisher< custom_interfaces::msg::Pose >::SharedPtr	_vehicle_pose_publisher_

rclcpp::Publisher< custom_interfaces::msg::ConeArray >::SharedPtr	_map_publisher_

rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_visualization_map_publisher_

rclcpp::Publisher< visualization_msgs::msg::Marker >::SharedPtr	_position_visualization_publisher_
	Publishes the vehicle position.

rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_trajectory_visualization_publisher_
	Publishes full vehicle trajectory.

rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_associations_visualization_publisher_

rclcpp::Publisher< std_msgs::msg::Float64MultiArray >::SharedPtr	_execution_time_publisher_

rclcpp::Publisher< std_msgs::msg::Float64MultiArray >::SharedPtr	_covariance_publisher_
	Publishes the covariance of the pose.

rclcpp::Publisher< std_msgs::msg::Float64 >::SharedPtr	_lap_counter_publisher_

rclcpp::Publisher< std_msgs::msg::Float64 >::SharedPtr	_perception_delta_publisher_

rclcpp::Time	_last_perception_message_time_ = rclcpp::Time(0)

rclcpp::CallbackGroup::SharedPtr	_parallel_callback_group_

std::shared_mutex	mutex_

std::shared_ptr< tf2_ros::TransformBroadcaster >	_tf_broadcaster_

rclcpp::TimerBase::SharedPtr	_timer_
	timer

std::shared_ptr< SLAMSolver >	_slam_solver_
	SLAM solver object.

std::vector< common_lib::structures::Cone >	_perception_map_

common_lib::structures::Velocities	_vehicle_state_velocities_

std::vector< common_lib::structures::Cone >	_track_map_

Eigen::VectorXi	_associations_

Eigen::VectorXd	_observations_global_
	Global observations of the cones.

Eigen::VectorXd	_map_coordinates_
	Coordinates of the cones in the map.

common_lib::structures::Pose	_vehicle_pose_

std::shared_ptr< std::vector< double > >	_execution_times_

common_lib::competition_logic::Mission	_mission_ = common_lib::competition_logic::Mission::NONE

bool	_go_ = true

std::string	_adapter_name_
	flag to start the mission

std::string	_vehicle_frame_id_
	Frame id of the vehicle for the transform.

SLAMParameters	_params_

Detailed Description

Class representing the main SLAM node responsible for publishing the calculated pose and map.

Definition at line 35 of file slam_node.hpp.

Constructor & Destructor Documentation

◆ SLAMNode()

SLAMNode::SLAMNode ( const SLAMParameters & params )

Constructor that uses the parameters structure.

Definition at line 21 of file slam_node.cpp.

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Member Function Documentation

◆ _imu_subscription_callback()

void SLAMNode::_imu_subscription_callback ( const sensor_msgs::msg::Imu & msg )

protected

Callback that updates everytime information is received from the IMU.

Parameters

msg	Message containing the IMU data

Definition at line 261 of file slam_node.cpp.

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◆ _is_mission_finished()

bool SLAMNode::_is_mission_finished ( )

protected

Checks if the mission is finished.

Returns: true if the mission is finished; false if the mission is not finished

Definition at line 436 of file slam_node.cpp.

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◆ _perception_subscription_callback()

void SLAMNode::_perception_subscription_callback ( const custom_interfaces::msg::PerceptionOutput & msg )

protected

Callback that updates everytime information is received from the perception module.

Parameters

msg	Message containing the array of perceived cones

Definition at line 117 of file slam_node.cpp.

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◆ _publish_associations()

void SLAMNode::_publish_associations ( )

protected

Publishes the visualization of the associations by data association.

Definition at line 382 of file slam_node.cpp.

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◆ _publish_covariance()

void SLAMNode::_publish_covariance ( )

protected

publishes the covariance of the state

Definition at line 354 of file slam_node.cpp.

◆ _publish_lap_counter()

void SLAMNode::_publish_lap_counter ( )

protected

publishes the lap counter

Definition at line 376 of file slam_node.cpp.

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◆ _publish_map()

void SLAMNode::_publish_map ( )

protected

publishes the map ('track_map') to the topic track_map

Definition at line 327 of file slam_node.cpp.

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◆ _publish_vehicle_pose()

void SLAMNode::_publish_vehicle_pose ( )

protected

publishes the localization ('vehicle_pose') to the topic vehicle_pose

Definition at line 280 of file slam_node.cpp.

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◆ _velocities_subscription_callback()

void SLAMNode::_velocities_subscription_callback ( const custom_interfaces::msg::Velocities & msg )

protected

Callback that updates everytime information is received from velocity estimation node.

Parameters

msg	Message containing the velocities of the vehicle

Definition at line 220 of file slam_node.cpp.

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◆ finish()

virtual void SLAMNode::finish ( )

pure virtual

Finish the mission.

Implemented in PacsimAdapter, VehicleAdapter, VehicleAdapter, PacsimAdapter, and VehicleAdapter.

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◆ init()

void SLAMNode::init ( )

Initialize functions @description This method is used to initialize things that require the constructed node.

Definition at line 109 of file slam_node.cpp.

Member Data Documentation

◆ _adapter_name_

std::string SLAMNode::_adapter_name_

protected

flag to start the mission

Definition at line 78 of file slam_node.hpp.

◆ _associations_

Eigen::VectorXi SLAMNode::_associations_

protected

Definition at line 69 of file slam_node.hpp.

◆ _associations_visualization_publisher_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr SLAMNode::_associations_visualization_publisher_

protected

Definition at line 50 of file slam_node.hpp.

◆ _callback_group_

rclcpp::CallbackGroup::SharedPtr SLAMNode::_callback_group_

protected

Callback group for subscriptions, used to control if they are concurrent or not.

Definition at line 37 of file slam_node.hpp.

◆ _covariance_publisher_

rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr SLAMNode::_covariance_publisher_

protected

Publishes the covariance of the pose.

Definition at line 53 of file slam_node.hpp.

◆ _execution_time_publisher_

rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr SLAMNode::_execution_time_publisher_

protected

Definition at line 51 of file slam_node.hpp.

◆ _execution_times_

std::shared_ptr<std::vector<double> > SLAMNode::_execution_times_

protected

Definition at line 74 of file slam_node.hpp.

◆ _go_

bool SLAMNode::_go_ = true

protected

Definition at line 77 of file slam_node.hpp.

◆ _lap_counter_publisher_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr SLAMNode::_lap_counter_publisher_

protected

Definition at line 55 of file slam_node.hpp.

◆ _last_perception_message_time_

rclcpp::Time SLAMNode::_last_perception_message_time_ = rclcpp::Time(0)

protected

Definition at line 57 of file slam_node.hpp.

◆ _map_coordinates_

Eigen::VectorXd SLAMNode::_map_coordinates_

protected

Coordinates of the cones in the map.

Definition at line 71 of file slam_node.hpp.

◆ _map_publisher_

rclcpp::Publisher<custom_interfaces::msg::ConeArray>::SharedPtr SLAMNode::_map_publisher_

protected

Definition at line 43 of file slam_node.hpp.

◆ _mission_

common_lib::competition_logic::Mission SLAMNode::_mission_ = common_lib::competition_logic::Mission::NONE

protected

Definition at line 76 of file slam_node.hpp.

◆ _observations_global_

Eigen::VectorXd SLAMNode::_observations_global_

protected

Global observations of the cones.

Definition at line 70 of file slam_node.hpp.

◆ _parallel_callback_group_

rclcpp::CallbackGroup::SharedPtr SLAMNode::_parallel_callback_group_

protected

Definition at line 59 of file slam_node.hpp.

◆ _params_

SLAMParameters SLAMNode::_params_

protected

Definition at line 80 of file slam_node.hpp.

◆ _perception_delta_publisher_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr SLAMNode::_perception_delta_publisher_

protected

Definition at line 56 of file slam_node.hpp.

◆ _perception_map_

std::vector<common_lib::structures::Cone> SLAMNode::_perception_map_

protected

Definition at line 66 of file slam_node.hpp.

◆ _perception_subscription_

rclcpp::Subscription<custom_interfaces::msg::PerceptionOutput>::SharedPtr SLAMNode::_perception_subscription_

protected

Definition at line 40 of file slam_node.hpp.

◆ _position_visualization_publisher_

rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr SLAMNode::_position_visualization_publisher_

protected

Publishes the vehicle position.

Definition at line 46 of file slam_node.hpp.

◆ _slam_solver_

std::shared_ptr<SLAMSolver> SLAMNode::_slam_solver_

protected

SLAM solver object.

Definition at line 65 of file slam_node.hpp.

◆ _tf_broadcaster_

std::shared_ptr<tf2_ros::TransformBroadcaster> SLAMNode::_tf_broadcaster_

protected

Definition at line 63 of file slam_node.hpp.

◆ _timer_

rclcpp::TimerBase::SharedPtr SLAMNode::_timer_

protected

timer

Definition at line 64 of file slam_node.hpp.

◆ _track_map_

std::vector<common_lib::structures::Cone> SLAMNode::_track_map_

protected

Definition at line 68 of file slam_node.hpp.

◆ _trajectory_visualization_publisher_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr SLAMNode::_trajectory_visualization_publisher_

protected

Publishes full vehicle trajectory.

Definition at line 48 of file slam_node.hpp.

◆ _vehicle_frame_id_

std::string SLAMNode::_vehicle_frame_id_

protected

Frame id of the vehicle for the transform.

Definition at line 79 of file slam_node.hpp.

◆ _vehicle_pose_

common_lib::structures::Pose SLAMNode::_vehicle_pose_

protected

Definition at line 72 of file slam_node.hpp.

◆ _vehicle_pose_publisher_

rclcpp::Publisher<custom_interfaces::msg::Pose>::SharedPtr SLAMNode::_vehicle_pose_publisher_

protected

Definition at line 42 of file slam_node.hpp.

◆ _vehicle_state_velocities_

common_lib::structures::Velocities SLAMNode::_vehicle_state_velocities_

protected

Definition at line 67 of file slam_node.hpp.

◆ _velocities_subscription_

rclcpp::Subscription<custom_interfaces::msg::Velocities>::SharedPtr SLAMNode::_velocities_subscription_

protected

Definition at line 41 of file slam_node.hpp.

◆ _visualization_map_publisher_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr SLAMNode::_visualization_map_publisher_

protected

Definition at line 44 of file slam_node.hpp.

◆ mutex_

std::shared_mutex SLAMNode::mutex_

protected

Definition at line 61 of file slam_node.hpp.

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

src/slam/include/ros_node/slam_node.hpp
src/slam/src/ros_node/slam_node.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLAMNode()

Member Function Documentation

◆ _imu_subscription_callback()

◆ _is_mission_finished()

◆ _perception_subscription_callback()

◆ _publish_associations()

◆ _publish_covariance()

◆ _publish_lap_counter()

◆ _publish_map()

◆ _publish_vehicle_pose()

◆ _velocities_subscription_callback()

◆ finish()

◆ init()

Member Data Documentation

◆ _adapter_name_

◆ _associations_

◆ _associations_visualization_publisher_

◆ _callback_group_

◆ _covariance_publisher_

◆ _execution_time_publisher_

◆ _execution_times_

◆ _go_

◆ _lap_counter_publisher_

◆ _last_perception_message_time_

◆ _map_coordinates_

◆ _map_publisher_

◆ _mission_

◆ _observations_global_

◆ _parallel_callback_group_

◆ _params_

◆ _perception_delta_publisher_

◆ _perception_map_

◆ _perception_subscription_

◆ _position_visualization_publisher_

◆ _slam_solver_

◆ _tf_broadcaster_

◆ _timer_

◆ _track_map_

◆ _trajectory_visualization_publisher_

◆ _vehicle_frame_id_

◆ _vehicle_pose_

◆ _vehicle_pose_publisher_

◆ _vehicle_state_velocities_

◆ _velocities_subscription_

◆ _visualization_map_publisher_

◆ mutex_