TopicRemapper Class Reference

Remaps differential drive controller plugin odometry and velocity command topics. More...

Inheritance diagram for TopicRemapper:

Collaboration diagram for TopicRemapper:

Public Member Functions
	TopicRemapper ()
	Constructor for TopicRemapper. More...

Private Member Functions
void	odom_callback (const nav_msgs::msg::Odometry::SharedPtr msg)
	Callback for remapping odometry messages. More...
void	cmd_vel_callback (const geometry_msgs::msg::Twist::SharedPtr msg)
	Callback for remapping velocity command messages. More...

Private Attributes
rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	odom_sub_
rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	cmd_vel_sub_
rclcpp::Publisher< nav_msgs::msg::Odometry >::SharedPtr	odom_pub_
rclcpp::Publisher< geometry_msgs::msg::Twist >::SharedPtr	cmd_vel_pub_

Detailed Description

Remaps differential drive controller plugin odometry and velocity command topics.

Constructor & Destructor Documentation

TopicRemapper()

TopicRemapper::TopicRemapper ( )

inline

Constructor for TopicRemapper.

Member Function Documentation

cmd_vel_callback()

void TopicRemapper::cmd_vel_callback ( const geometry_msgs::msg::Twist::SharedPtr  msg )

inlineprivate

Callback for remapping velocity command messages.

Parameters

msg	The received velocity command message.

odom_callback()

void TopicRemapper::odom_callback ( const nav_msgs::msg::Odometry::SharedPtr  msg )

inlineprivate

Callback for remapping odometry messages.

Parameters

msg	The received odometry message.

Member Data Documentation

cmd_vel_pub_

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr TopicRemapper::cmd_vel_pub_

private

cmd_vel_sub_

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr TopicRemapper::cmd_vel_sub_

private

odom_pub_

rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr TopicRemapper::odom_pub_

private

odom_sub_

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr TopicRemapper::odom_sub_

private

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

• /home/grayson/dev_ws/src/lunabot_ros/lunabot_util/src/topic_remapper.cpp