Provides localization using AprilTags and manages an action server for localization feedback. More...

Inheritance diagram for LocalizationServer:

Collaboration diagram for LocalizationServer:

Public Types
using	Localization = lunabot_msgs::action::Localization

using	GoalHandleLocalization = rclcpp_action::ServerGoalHandle< Localization >

Public Member Functions
	LocalizationServer ()
	Constructor for the LocalizationServer class. More...

Private Member Functions
rclcpp_action::GoalResponse	handle_goal (const rclcpp_action::GoalUUID &, std::shared_ptr< const Localization::Goal >)
	Handles goal requests from clients. More...

rclcpp_action::CancelResponse	handle_cancel (const std::shared_ptr< GoalHandleLocalization >)
	Handles cancellation requests from clients. More...

void	handle_accepted (const std::shared_ptr< GoalHandleLocalization > goal_handle)
	Accepts and starts the goal execution. More...

void	execute (const std::shared_ptr< GoalHandleLocalization > goal_handle)
	Executes the localization process. More...

void	localize ()
	Aligns the robot to face east with the D455 camera facing AprilTag with tag 7. More...

void	d455_detect_apriltag (const sensor_msgs::msg::Image::SharedPtr input_image)
	Detects AprilTags in images from the D455 camera. More...

void	d456_detect_apriltag (const sensor_msgs::msg::Image::SharedPtr input_image)
	Detects AprilTags in images from the D456 camera. More...

void	process_apriltag (const sensor_msgs::msg::Image::SharedPtr &input_image, bool &tag_7_detected_, bool &tag_11_detected_, const rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr &overlay_publisher, bool calculate_tag_)
	Processes detected AprilTags, calculates pose, and publishes overlay image. More...

double	normalize_angle (double angle)
	Normalizes an angle to the range [-pi, pi]. More...

void	calculate_distances (const cv::Vec3d &tvec, double &lateral_distance, double &depth_distance)
	Calculates lateral and depth distances from translation vector. More...

void	calculate_yaw (const cv::Vec3d &rvec, double &tag_7_yaw_)
	Calculates yaw from rotation vector. More...

Private Attributes
bool	d455_tag_7_detected_

bool	d455_tag_11_detected_

bool	d456_tag_7_detected_

bool	d456_tag_11_detected_

bool	turn_direction_set_

bool	turn_clockwise_

bool	timer_started_

bool	success_

double	lateral_distance_

double	depth_distance_

double	tag_7_yaw_

rclcpp::Time	start_time_

rclcpp::TimerBase::SharedPtr	localization_timer_

geometry_msgs::msg::Twist	twist

rclcpp_action::Server< Localization >::SharedPtr	action_server_

rclcpp::Subscription< sensor_msgs::msg::Image >::SharedPtr	d455_image_subscriber_

rclcpp::Subscription< sensor_msgs::msg::Image >::SharedPtr	d456_image_subscriber_

rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr	d455_overlay_publisher_

rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr	d456_overlay_publisher_

rclcpp::Publisher< geometry_msgs::msg::Twist >::SharedPtr	cmd_vel_publisher_

Detailed Description

Provides localization using AprilTags and manages an action server for localization feedback.

Member Typedef Documentation

◆ GoalHandleLocalization

using LocalizationServer::GoalHandleLocalization = rclcpp_action::ServerGoalHandle<Localization>

◆ Localization

using LocalizationServer::Localization = lunabot_msgs::action::Localization

Constructor & Destructor Documentation

◆ LocalizationServer()

LocalizationServer::LocalizationServer ( )

inline

Constructor for the LocalizationServer class.

Member Function Documentation

◆ calculate_distances()

void LocalizationServer::calculate_distances	(	const cv::Vec3d &	tvec,
		double &	lateral_distance,
		double &	depth_distance
	)

inlineprivate

Calculates lateral and depth distances from translation vector.

Parameters

tvec	Translation vector.
lateral_distance	Calculated lateral distance.
depth_distance	Calculated depth distance.

◆ calculate_yaw()

void LocalizationServer::calculate_yaw	(	const cv::Vec3d &	rvec,
		double &	tag_7_yaw_
	)

inlineprivate

Calculates yaw from rotation vector.

Parameters

rvec	Rotation vector.
tag_7_yaw_	Calculated yaw for tag_7.

◆ d455_detect_apriltag()

void LocalizationServer::d455_detect_apriltag ( const sensor_msgs::msg::Image::SharedPtr input_image )

inlineprivate

Detects AprilTags in images from the D455 camera.

Parameters

input_image Image message from the D455 camera.

◆ d456_detect_apriltag()

void LocalizationServer::d456_detect_apriltag ( const sensor_msgs::msg::Image::SharedPtr input_image )

inlineprivate

Detects AprilTags in images from the D456 camera.

Parameters

input_image Image message from the D456 camera.

◆ execute()

void LocalizationServer::execute ( const std::shared_ptr< GoalHandleLocalization > goal_handle )

inlineprivate

Executes the localization process.

Parameters

goal_handle Handle for the current goal.

◆ handle_accepted()

void LocalizationServer::handle_accepted ( const std::shared_ptr< GoalHandleLocalization > goal_handle )

inlineprivate

Accepts and starts the goal execution.

Parameters

goal_handle Handle for the current goal.

◆ handle_cancel()

rclcpp_action::CancelResponse LocalizationServer::handle_cancel ( const std::shared_ptr< GoalHandleLocalization > )

inlineprivate

Handles cancellation requests from clients.

Returns: Cancel response (accept or reject).

◆ handle_goal()

rclcpp_action::GoalResponse LocalizationServer::handle_goal	(	const rclcpp_action::GoalUUID &	,
		std::shared_ptr< const Localization::Goal >
	)

inlineprivate

Handles goal requests from clients.

Returns: Goal response (accept or reject).

◆ localize()

void LocalizationServer::localize ( )

inlineprivate

Aligns the robot to face east with the D455 camera facing AprilTag with tag 7.

◆ normalize_angle()

double LocalizationServer::normalize_angle ( double angle )

inlineprivate

Normalizes an angle to the range [-pi, pi].

Parameters

angle The angle to normalize.

Returns: Normalized angle.

◆ process_apriltag()

void LocalizationServer::process_apriltag	(	const sensor_msgs::msg::Image::SharedPtr &	input_image,
		bool &	tag_7_detected_,
		bool &	tag_11_detected_,
		const rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr &	overlay_publisher,
		bool	calculate_tag_
	)

inlineprivate

Processes detected AprilTags, calculates pose, and publishes overlay image.

Parameters

input_image	Input image message.
tag_7_detected_	Flag for tag 7 detection.
tag_11_detected_	Flag for tag 11 detection
overlay_publisher	Publisher for overlay image.
calculate_tag_	Flag to determine whether to calculate yaw and distances for the detected tag.

Member Data Documentation

◆ action_server_

rclcpp_action::Server<Localization>::SharedPtr LocalizationServer::action_server_

private

◆ cmd_vel_publisher_

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr LocalizationServer::cmd_vel_publisher_

private

◆ d455_image_subscriber_

rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr LocalizationServer::d455_image_subscriber_

private

◆ d455_overlay_publisher_

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr LocalizationServer::d455_overlay_publisher_

private

◆ d455_tag_11_detected_

bool LocalizationServer::d455_tag_11_detected_

private

◆ d455_tag_7_detected_

bool LocalizationServer::d455_tag_7_detected_

private

◆ d456_image_subscriber_

rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr LocalizationServer::d456_image_subscriber_

private

◆ d456_overlay_publisher_

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr LocalizationServer::d456_overlay_publisher_

private

◆ d456_tag_11_detected_

bool LocalizationServer::d456_tag_11_detected_

private

◆ d456_tag_7_detected_

bool LocalizationServer::d456_tag_7_detected_

private

◆ depth_distance_

double LocalizationServer::depth_distance_

private

◆ lateral_distance_

double LocalizationServer::lateral_distance_

private

◆ localization_timer_

rclcpp::TimerBase::SharedPtr LocalizationServer::localization_timer_

private

◆ start_time_

rclcpp::Time LocalizationServer::start_time_

private

◆ success_

bool LocalizationServer::success_

private

◆ tag_7_yaw_

double LocalizationServer::tag_7_yaw_

private

◆ timer_started_

bool LocalizationServer::timer_started_

private

◆ turn_clockwise_

bool LocalizationServer::turn_clockwise_

private

◆ turn_direction_set_

bool LocalizationServer::turn_direction_set_

private

◆ twist

geometry_msgs::msg::Twist LocalizationServer::twist

private

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

/home/grayson/dev_ws/src/lunabot_ros/lunabot_nav/src/localization_server.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ GoalHandleLocalization

◆ Localization

Constructor & Destructor Documentation

◆ LocalizationServer()

Member Function Documentation

◆ calculate_distances()

◆ calculate_yaw()

◆ d455_detect_apriltag()

◆ d456_detect_apriltag()

◆ execute()

◆ handle_accepted()

◆ handle_cancel()

◆ handle_goal()

◆ localize()

◆ normalize_angle()

◆ process_apriltag()

Member Data Documentation

◆ action_server_

◆ cmd_vel_publisher_

◆ d455_image_subscriber_

◆ d455_overlay_publisher_

◆ d455_tag_11_detected_

◆ d455_tag_7_detected_

◆ d456_image_subscriber_

◆ d456_overlay_publisher_

◆ d456_tag_11_detected_

◆ d456_tag_7_detected_

◆ depth_distance_

◆ lateral_distance_

◆ localization_timer_

◆ start_time_

◆ success_

◆ tag_7_yaw_

◆ timer_started_

◆ turn_clockwise_

◆ turn_direction_set_

◆ twist