Class Localization
Defined in File localization.hpp
Inheritance Relationships
Base Type
public rclcpp::Node
Class Documentation
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class bitbots_localization::Localization : public rclcpp::Node
Includes the ROS interface, configuration and main loop of the Bit-Bots RoboCup localization.
Public Functions
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explicit Localization()
Callback for the pause service
- Parameters
req – Request.
res – Response.
Callback for the filter reset service
- Parameters
req – Request.
res – Response.
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void updateParams(bool force_reload = false)
Checks if we have new params and if so reconfigures the filter
- Parameters
force_reload – If true, the filter is reconfigured even if no new params are available
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void LinePointcloudCallback(const sm::msg::PointCloud2 &msg)
Callback for the line point cloud measurements
- Parameters
msg – Message containing the line point cloud.
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void GoalPostsCallback(const sv3dm::msg::GoalpostArray &msg)
Callback for goal posts measurements
- Parameters
msg – Message containing the goal posts.
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void FieldboundaryCallback(const sv3dm::msg::FieldBoundary &msg)
Callback for the relative field boundary measurements
- Parameters
msg – Message containing the field boundary points.
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void SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped &msg)
Resets the state distribution of the state space
- Parameters
distribution – The type of the distribution
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void reset_filter(int distribution)
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void reset_filter(int distribution, double x, double y)
Resets the state distribution of the state space
- Parameters
distribution – The type of the distribution
x – Position of the new state distribution
y – Position of the new state distribution
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void reset_filter(int distribution, double x, double y, double angle)
Resets the state distribution of the state space
- Parameters
distribution – The type of the distribution
x – Position of the new state distribution
y – Position of the new state distribution
angle – Angle in which the particle distribution is centered
Private Functions
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void run_filter_one_step()
Runs the filter for one step
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void publish_transforms()
Publishes the position as a transform
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void publish_pose_with_covariance()
Publishes the position as a message
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void publish_debug()
Debug publisher
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void publish_particle_markers()
Publishes the visualization markers for each particle
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void publish_ratings()
Publishes the rating visualizations for each measurement class
Publishes the rating visualizations for a arbitrary measurement class
- Parameters
measurements – all measurements of the measurement class
scale – scale of the markers
name – name of the class
map – map for this class
publisher – ros publisher for the type visualization_msgs::msg::Marker
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void updateMeasurements()
Updates the measurements for all classes
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void getMotion()
Gets the and convert motion / odometry information
Private Members
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bitbots_localization::ParamListener param_listener_
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bitbots_localization::Params config_
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rclcpp::Subscription<sm::msg::PointCloud2>::SharedPtr line_point_cloud_subscriber_
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rclcpp::Subscription<sv3dm::msg::GoalpostArray>::SharedPtr goal_subscriber_
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rclcpp::Subscription<sv3dm::msg::FieldBoundary>::SharedPtr fieldboundary_subscriber_
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rclcpp::Subscription<gm::msg::PoseWithCovarianceStamped>::SharedPtr rviz_initial_pose_subscriber_
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rclcpp::Publisher<gm::msg::PoseWithCovarianceStamped>::SharedPtr pose_with_covariance_publisher_
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rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pose_particles_publisher_
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rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr lines_publisher_
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rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr line_ratings_publisher_
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rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr goal_ratings_publisher_
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rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr fieldboundary_ratings_publisher_
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rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr field_publisher_
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rclcpp::Service<bl::srv::ResetFilter>::SharedPtr reset_service_
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rclcpp::Service<bl::srv::SetPaused>::SharedPtr pause_service_
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rclcpp::TimerBase::SharedPtr publishing_timer_
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std::unique_ptr<tf2_ros::Buffer> tfBuffer
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std::shared_ptr<tf2_ros::TransformListener> tfListener
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std::shared_ptr<tf2_ros::TransformBroadcaster> br
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std::shared_ptr<pf::ImportanceResampling<RobotState>> resampling_
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std::shared_ptr<RobotPoseObservationModel> robot_pose_observation_model_
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std::shared_ptr<RobotMotionModel> robot_motion_model_
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std::shared_ptr<particle_filter::ParticleFilter<RobotState>> robot_pf_
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std::shared_ptr<RobotStateDistributionStartLeft> robot_state_distribution_start_left_
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std::shared_ptr<RobotStateDistributionStartRight> robot_state_distribution_start_right_
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std::shared_ptr<RobotStateDistributionRightHalf> robot_state_distribution_right_half_
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std::shared_ptr<RobotStateDistributionLeftHalf> robot_state_distribution_left_half_
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std::shared_ptr<RobotStateDistributionPosition> robot_state_distribution_position_
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std::shared_ptr<RobotStateDistributionPose> robot_state_distribution_pose_
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RobotState estimate_
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std::vector<double> estimate_cov_
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sm::msg::PointCloud2 line_pointcloud_relative_
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sv3dm::msg::GoalpostArray goal_posts_relative_
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sv3dm::msg::FieldBoundary fieldboundary_relative_
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rclcpp::Time last_stamp_lines = rclcpp::Time(0)
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rclcpp::Time last_stamp_goals = rclcpp::Time(0)
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rclcpp::Time last_stamp_fb_points = rclcpp::Time(0)
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rclcpp::Time last_stamp_all_measurements = rclcpp::Time(0)
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builtin_interfaces::msg::Time map_odom_tf_last_published_time_ = builtin_interfaces::msg::Time(rclcpp::Time(0, 0, RCL_ROS_TIME))
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builtin_interfaces::msg::Time localization_tf_last_published_time_ = builtin_interfaces::msg::Time(rclcpp::Time(0, 0, RCL_ROS_TIME))
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geometry_msgs::msg::Vector3 linear_movement_
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geometry_msgs::msg::Vector3 rotational_movement_
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geometry_msgs::msg::TransformStamped previousOdomTransform_
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bool robot_moved = false
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int timer_callback_count_ = 0
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particle_filter::CRandomNumberGenerator random_number_generator_
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explicit Localization()