localization2D_nws_ros: A localization server which can be wrap multiple algorithms and devices to provide robot localization in a 2D World. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros/src/devices/localization2D_nws_ros/Localization2D_nws_ros.h>

Inheritance diagram for Localization2D_nws_ros:

Public Member Functions
	Localization2D_nws_ros ()

bool	open (yarp::os::Searchable &prop) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	detach () override
	Detach the object (you must have first called attach).

bool	attach (yarp::dev::PolyDriver *driver) override
	Attach to another object.

void	run () override
	Loop function.

bool	initialize_YARP (yarp::os::Searchable &config)

bool	initialize_ROS (yarp::os::Searchable &config)

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

	~DeviceDriver () override

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor.

virtual bool	configure (Searchable &config)
	Change online parameters.

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Protected Attributes
std::string	m_local_name = "/localization2D_nws_ros"

yarp::os::Port	m_rpcPort

std::string	m_rpcPortName

std::string	m_robot_frame

std::string	m_fixed_frame

bool	m_enable_publish_odometry_topic = true

bool	m_enable_publish_odometry_tf = true

std::string	m_child_frame_id = "base_link"

std::string	m_parent_frame_id = "odom"

std::string	m_node_name

yarp::os::Node *	m_node = nullptr

std::string	m_odom_topic_name

yarp::os::Publisher< yarp::rosmsg::nav_msgs::Odometry >	m_odometry_publisher

yarp::os::Publisher< yarp::rosmsg::tf2_msgs::TFMessage >	m_tf_publisher

yarp::dev::PolyDriver	pLoc

yarp::dev::Nav2D::ILocalization2D *	iLoc = nullptr

double	m_stats_time_last

double	m_period

yarp::os::Stamp	m_loc_stamp

yarp::os::Stamp	m_odom_stamp

yarp::dev::OdometryData	m_current_odometry

yarp::dev::Nav2D::Map2DLocation	m_current_position

yarp::dev::Nav2D::LocalizationStatusEnum	m_current_status = yarp::dev::Nav2D::LocalizationStatusEnum::localization_status_not_yet_localized

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method.

virtual void	threadRelease ()
	Release method.

virtual void	beforeStart ()
	Called just before a new thread starts.

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Detailed Description

localization2D_nws_ros: A localization server which can be wrap multiple algorithms and devices to provide robot localization in a 2D World.

Localization2D_nws_ros

Parameters required by this device are:

Parameter name	Type	Units	Default Value	Required	Description	Notes
period	double	s	0.01	No	The period of the working thread
yarp_base_name	string	-		Yes	The name of the server, used as a prefix for the opened yarp ports	By default ports opened are: /xxx/rpc
publish_odometry	bool	-	true	No	Periodically publish odometry data over the network	-
publish_tf	bool	-	true	No	Periodically publish tf data over the network	-
parent_frame_id	string	-	odom	No	The name of the of the parent frame published in the /tf topic	-
child_frame_id	string	-	base_link	No	The name of the of the child frame published in the /tf topic	-
topic_name	string	-		Yes	The name of the of the odometry topic	-
node_name	string	-		Yes	The name of the of the ROS node	-

Definition at line 48 of file Localization2D_nws_ros.h.

Constructor & Destructor Documentation

◆ Localization2D_nws_ros()

Localization2D_nws_ros::Localization2D_nws_ros ( )

Definition at line 43 of file Localization2D_nws_ros.cpp.

Member Function Documentation

◆ attach()

bool Localization2D_nws_ros::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 49 of file Localization2D_nws_ros.cpp.

◆ close()

bool Localization2D_nws_ros::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 214 of file Localization2D_nws_ros.cpp.

◆ detach()

bool Localization2D_nws_ros::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 82 of file Localization2D_nws_ros.cpp.

◆ initialize_ROS()

bool Localization2D_nws_ros::initialize_ROS ( yarp::os::Searchable & config )

Definition at line 152 of file Localization2D_nws_ros.cpp.

◆ initialize_YARP()

bool Localization2D_nws_ros::initialize_YARP ( yarp::os::Searchable & config )

Definition at line 202 of file Localization2D_nws_ros.cpp.

◆ open()

bool Localization2D_nws_ros::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 92 of file Localization2D_nws_ros.cpp.

◆ read()

bool Localization2D_nws_ros::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 239 of file Localization2D_nws_ros.cpp.

◆ run()

void Localization2D_nws_ros::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 270 of file Localization2D_nws_ros.cpp.

Member Data Documentation

◆ iLoc

yarp::dev::Nav2D::ILocalization2D* Localization2D_nws_ros::iLoc = nullptr

protected

Definition at line 76 of file Localization2D_nws_ros.h.

◆ m_child_frame_id

std::string Localization2D_nws_ros::m_child_frame_id = "base_link"

protected

Definition at line 66 of file Localization2D_nws_ros.h.

◆ m_current_odometry

yarp::dev::OdometryData Localization2D_nws_ros::m_current_odometry

protected

Definition at line 83 of file Localization2D_nws_ros.h.

◆ m_current_position

yarp::dev::Nav2D::Map2DLocation Localization2D_nws_ros::m_current_position

protected

Definition at line 84 of file Localization2D_nws_ros.h.

◆ m_current_status

yarp::dev::Nav2D::LocalizationStatusEnum Localization2D_nws_ros::m_current_status = yarp::dev::Nav2D::LocalizationStatusEnum::localization_status_not_yet_localized

protected

Definition at line 85 of file Localization2D_nws_ros.h.

◆ m_enable_publish_odometry_tf

bool Localization2D_nws_ros::m_enable_publish_odometry_tf = true

protected

Definition at line 63 of file Localization2D_nws_ros.h.

◆ m_enable_publish_odometry_topic

bool Localization2D_nws_ros::m_enable_publish_odometry_topic = true

protected

Definition at line 62 of file Localization2D_nws_ros.h.

◆ m_fixed_frame

std::string Localization2D_nws_ros::m_fixed_frame

protected

Definition at line 61 of file Localization2D_nws_ros.h.

◆ m_loc_stamp

yarp::os::Stamp Localization2D_nws_ros::m_loc_stamp

protected

Definition at line 80 of file Localization2D_nws_ros.h.

◆ m_local_name

std::string Localization2D_nws_ros::m_local_name = "/localization2D_nws_ros"

protected

Definition at line 57 of file Localization2D_nws_ros.h.

◆ m_node

yarp::os::Node* Localization2D_nws_ros::m_node = nullptr

protected

Definition at line 69 of file Localization2D_nws_ros.h.

◆ m_node_name

std::string Localization2D_nws_ros::m_node_name

protected

Definition at line 68 of file Localization2D_nws_ros.h.

◆ m_odom_stamp

yarp::os::Stamp Localization2D_nws_ros::m_odom_stamp

protected

Definition at line 81 of file Localization2D_nws_ros.h.

◆ m_odom_topic_name

std::string Localization2D_nws_ros::m_odom_topic_name

protected

Definition at line 70 of file Localization2D_nws_ros.h.

◆ m_odometry_publisher

yarp::os::Publisher<yarp::rosmsg::nav_msgs::Odometry> Localization2D_nws_ros::m_odometry_publisher

protected

Definition at line 71 of file Localization2D_nws_ros.h.

◆ m_parent_frame_id

std::string Localization2D_nws_ros::m_parent_frame_id = "odom"

protected

Definition at line 67 of file Localization2D_nws_ros.h.

◆ m_period

double Localization2D_nws_ros::m_period

protected

Definition at line 79 of file Localization2D_nws_ros.h.

◆ m_robot_frame

std::string Localization2D_nws_ros::m_robot_frame

protected

Definition at line 60 of file Localization2D_nws_ros.h.

◆ m_rpcPort

yarp::os::Port Localization2D_nws_ros::m_rpcPort

protected

Definition at line 58 of file Localization2D_nws_ros.h.

◆ m_rpcPortName

std::string Localization2D_nws_ros::m_rpcPortName

protected

Definition at line 59 of file Localization2D_nws_ros.h.

◆ m_stats_time_last

double Localization2D_nws_ros::m_stats_time_last

protected

Definition at line 78 of file Localization2D_nws_ros.h.

◆ m_tf_publisher

yarp::os::Publisher<yarp::rosmsg::tf2_msgs::TFMessage> Localization2D_nws_ros::m_tf_publisher

protected

Definition at line 72 of file Localization2D_nws_ros.h.

◆ pLoc

yarp::dev::PolyDriver Localization2D_nws_ros::pLoc

protected

Definition at line 75 of file Localization2D_nws_ros.h.

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

opt-modules/yarp-devices-ros/src/devices/localization2D_nws_ros/Localization2D_nws_ros.h
opt-modules/yarp-devices-ros/src/devices/localization2D_nws_ros/Localization2D_nws_ros.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Localization2D_nws_ros

Constructor & Destructor Documentation

◆ Localization2D_nws_ros()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ initialize_ROS()

◆ initialize_YARP()

◆ open()

◆ read()

◆ run()

Member Data Documentation

◆ iLoc

◆ m_child_frame_id

◆ m_current_odometry

◆ m_current_position

◆ m_current_status

◆ m_enable_publish_odometry_tf

◆ m_enable_publish_odometry_topic

◆ m_fixed_frame

◆ m_loc_stamp

◆ m_local_name

◆ m_node

◆ m_node_name

◆ m_odom_stamp

◆ m_odom_topic_name

◆ m_odometry_publisher

◆ m_parent_frame_id

◆ m_period

◆ m_robot_frame

◆ m_rpcPort

◆ m_rpcPortName

◆ m_stats_time_last

◆ m_tf_publisher

◆ pLoc