SMACC2
amcl.cpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
21
22#include <string>
23
24namespace cl_nav2z
25{
27
29
30std::string Amcl::getName() const { return "AMCL"; }
31
33{
34 initalPosePub_ = getNode()->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
35 "initialpose", rclcpp::QoS(10));
36}
37
38void Amcl::setInitialPose(const geometry_msgs::msg::PoseWithCovarianceStamped & initialpose)
39{
40 initalPosePub_->publish(initialpose);
41}
42
43} // namespace cl_nav2z
void onInitialize() override
Definition: amcl.cpp:32
void setInitialPose(const geometry_msgs::msg::PoseWithCovarianceStamped &initialpose)
Definition: amcl.cpp:38
std::string getName() const override
Definition: amcl.cpp:30
virtual ~Amcl()
Definition: amcl.cpp:28
rclcpp::Publisher< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr initalPosePub_
Definition: amcl.hpp:40
rclcpp::Node::SharedPtr getNode()