slam_toolbox
2022-08-03 11:00:05 17 举报AI智能生成
ros2 slam toolbox 代码
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大纲/内容
class SlamToolbox : public rclcpp::Node
继承类
AsynchronousSlamToolbox : SlamToolbox
laserCallback()
deserializePoseGraphCallback()
LocalizationSlamToolbox : SlamToolbox
loadPoseGraphByParams
laserCallback
localizePoseCallback
clearLocalizationBuffer
serializePoseGraphCallback
deserializePoseGraphCallback
addScan
AsynchronousSlamToolbox : SlamToolbox
run
laserCallback
clearQueueCallback
deserializePoseGraphCallback
configure
loadPoseGraphByParams
publishVisualizations
publishTransformLoop
setSolver
setROSInterfaces
setParams
laserCallback
mapCallback
serializePoseGraphCallback
deserializePoseGraphCallback
loadSerializedPoseGraph
getLaser
addScan
addScan 重载
updateMap
setTransformFromPoses
getLocalizedRangeScan
shouldStartWithPoseGraph
shouldProcessScan
publishPose
isPaused
pauseNewMeasurementsCallback
class MergeMapsKinematic : public rclcpp::Node
configure
mergeMapCallback
addSubmapCallback
processInteractiveFeedback
kartoToROSOccupancyGrid
transformScan
applyCorrection
class LoopClosureAssistant
clearMovedNodes
processInteractiveFeedback
publishGraph
manualLoopClosureCallback
clearChangesCallback
interactiveModeCallback
moveNode
addMovedNodes
class SMapper
getOccupancyGrid
toTfPose
toKartoPose
configure
Reset
set/get Mapper
clearLocalizationBuffer
class MapSaver
saveMapCallback
GetPoseHelper
getOdomPose
Utils
laser_utils
scanToReadings
class LaserMetadata
isInverted
getLaser
invertScan
class LaserAssistant
toLaserMetadata
makeLaser
isInverted
class ScanHolder
getCorrectedScan
addScan
snap_utils
inline bool isInSnap()
inline std::string getSnapPath()
vis_utils
inline visualization_msgs::msg::Marker toMarker()
inline visualization_msgs::msg::InteractiveMarker toInteractiveMarker()
inline void toNavMap()
toolbox_types
struct PosedScan
struct ScoredVertex
struct PausedState
karto::ScanSolver
ros内置封装模版
ros内置封装模版
solver_plugins::CeresSolver ：karto::ScanSolver
GetCorrections
Compute
Clear
Reset
Configure
AddNode
AddConstraint
getGraph
RemoveNode
RemoveConstraint
ModifyNode
GetNodeOrientation
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