Odometry Publisher which can be attached to any entity in order to periodically publish 2D or 3D odometry data in the form of ignition::msgs::Odometry messages. More...
#include <OdometryPublisher.hh>
Public Member Functions | |
OdometryPublisher () | |
Constructor. More... | |
~OdometryPublisher () override=default | |
Destructor. More... | |
void | Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override |
Configure the system. More... | |
void | PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override |
void | PreUpdate (const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override |
Public Member Functions inherited from System | |
System ()=default | |
Constructor. More... | |
virtual | ~System ()=default |
Destructor. More... | |
Detailed Description
Odometry Publisher which can be attached to any entity in order to periodically publish 2D or 3D odometry data in the form of ignition::msgs::Odometry messages.
System Parameters
<odom_frame>
: Name of the world-fixed coordinate frame for the is {name_of_model}/odom
.
<robot_base_frame>
: Name of the coordinate frame rigidly attached to the mobile robot base. This element is optional, and the default value is {name_of_model}/base_footprint
.
<odom_publish_frequency>
: Odometry publication frequency. This element is optional, and the default value is 50Hz.
<odom_topic>
: Custom topic on which this system will publish odometry messages. This element is optional, and the default value is /model/{name_of_model}/odometry
.
<odom_covariance_topic>
: Custom topic on which this system will publish odometry with covariance messages. This element is optional, and the default value is /model/{name_of_model}/odometry_with_covariance
.
<tf_topic>
: Custom topic on which this system will publish the transform from odom_frame
to robot_base_frame
. This element is optional, and the default value is /model/{name_of_model}/pose
.
<dimensions>
: Number of dimensions to represent odometry. Only 2 and 3 dimensional spaces are supported. This element is optional, and the default value is 2.
<xyz_offset>
: Position offset relative to the body fixed frame, the default value is 0 0 0. This offset will be added to the odometry message.
<rpy_offset>
: Rotation offset relative to the body fixed frame, the default value is 0 0 0. This offset will be added to the odometry message.
<gaussian_noise>
: Standard deviation of the Gaussian noise to be added to pose and twist messages. This element is optional, and the default value is 0.
Constructor & Destructor Documentation
◆ OdometryPublisher()
Constructor.
◆ ~OdometryPublisher()
|
overridedefault |
Destructor.
Member Function Documentation
◆ Configure()
|
overridevirtual |
Configure the system.
- Parameters
-
[in] _entity The entity this plugin is attached to. [in] _sdf The SDF Element associated with this system plugin. [in] _ecm The EntityComponentManager of the given simulation instance. [in] _eventMgr The EventManager of the given simulation instance.
Implements ISystemConfigure.
◆ PostUpdate()
|
overridevirtual |
Implements ISystemPostUpdate.
◆ PreUpdate()
|
overridevirtual |
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: