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.

	~OdometryPublisher () override=default
	Destructor.

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

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.

virtual	~System ()=default
	Destructor.

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

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.

Components

This system uses the following components:

components::Pose: Pose represented by gz::math::Pose3d. Used to calculate the odometry to publish.

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.