Class MotionOdometry

Defined in File motion_odometry.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class bitbots_odometry::MotionOdometry : public rclcpp::Node

Public Functions

MotionOdometry()

void loop()

Private Functions

void supportCallback(const biped_interfaces::msg::Phase::SharedPtr msg)

void odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg)

Private Members

rclcpp::Time joint_update_time_ = {rclcpp::Time(0, 0, RCL_ROS_TIME)}

int current_support_state_ = -1

int previous_support_state_ = -1

rclcpp::Time current_support_state_time_ = {rclcpp::Time(0, 0, RCL_ROS_TIME)}

nav_msgs::msg::Odometry current_odom_msg_

tf2::Transform odometry_to_support_foot_

std::string base_link_frame_

std::string r_sole_frame_

std::string l_sole_frame_

std::string odom_frame_

rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odometry_

rclcpp::Subscription<biped_interfaces::msg::Phase>::SharedPtr walk_support_state_sub_

rclcpp::Subscription<biped_interfaces::msg::Phase>::SharedPtr kick_support_state_sub_

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscriber_

motion_odometry::ParamListener param_listener_

motion_odometry::Params config_

tf2_ros::Buffer tf_buffer_

tf2_ros::TransformListener tf_listener_

std::unique_ptr<tf2_ros::TransformBroadcaster> br_

rclcpp::Time foot_change_time_ = {rclcpp::Time(0, 0, RCL_ROS_TIME)}

std::string previous_support_link_

std::string current_support_link_

rclcpp::Time start_time_