Odometry Publisher which can be attached to any entity in order to periodically publish 2D or 3D odometry data in the form of gz::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 UpdateInfo &_info, 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 gz::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()

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]	_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.