Gazebo Gazebo

API Reference

6.16.0
OdometryPublisher Class Reference

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()

~OdometryPublisher ( )
overridedefault

Destructor.

Member Function Documentation

◆ Configure()

void Configure ( const Entity _entity,
const std::shared_ptr< const sdf::Element > &  _sdf,
EntityComponentManager _ecm,
EventManager _eventMgr 
)
overridevirtual

Configure the system.

Parameters
[in]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ PostUpdate()

void PostUpdate ( const UpdateInfo _info,
const EntityComponentManager _ecm 
)
overridevirtual

Implements ISystemPostUpdate.

◆ PreUpdate()

void PreUpdate ( const ignition::gazebo::UpdateInfo _info,
ignition::gazebo::EntityComponentManager _ecm 
)
overridevirtual

Implements ISystemPreUpdate.


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