apollo::localization::LocalizationMsgPublisher类 参考

#include <msf_localization_component.h>

apollo::localization::LocalizationMsgPublisher 的协作图:

Public 成员函数
	LocalizationMsgPublisher (const std::shared_ptr< cyber::Node > &node)
	~LocalizationMsgPublisher ()=default
bool	InitConfig ()
bool	InitIO ()
void	PublishPoseBroadcastTF (const LocalizationEstimate &localization)
void	PublishPoseBroadcastTopic (const LocalizationEstimate &localization)
void	PublishLocalizationMsfGnss (const LocalizationEstimate &localization)
void	PublishLocalizationMsfLidar (const LocalizationEstimate &localization)
void	PublishLocalizationStatus (const LocalizationStatus &localization_status)

详细描述

在文件 msf_localization_component.h 第 77 行定义.

构造及析构函数说明

LocalizationMsgPublisher()

apollo::localization::LocalizationMsgPublisher::LocalizationMsgPublisher ( const std::shared_ptr< cyber::Node > &  node )

explicit

在文件 msf_localization_component.cc 第 109 行定义.

    : node_(node), localization_gnss_compensator_(
      LocalizationGnssCompensator::Instance()),
      tf2_broadcaster_(node) {}

~LocalizationMsgPublisher()

apollo::localization::LocalizationMsgPublisher::~LocalizationMsgPublisher ( )

default

成员函数说明

InitConfig()

bool apollo::localization::LocalizationMsgPublisher::InitConfig

(

)

在文件 msf_localization_component.cc 第 115 行定义.

                                          {
  localization_topic_ = FLAGS_localization_topic;
  broadcast_tf_frame_id_ = FLAGS_broadcast_tf_frame_id;
  broadcast_tf_child_frame_id_ = FLAGS_broadcast_tf_child_frame_id;
  lidar_local_topic_ = FLAGS_localization_lidar_topic;
  gnss_local_topic_ = FLAGS_localization_gnss_topic;
  localization_status_topic_ = FLAGS_localization_msf_status;
 
  return true;
}

InitIO()

bool apollo::localization::LocalizationMsgPublisher::InitIO

(

)

在文件 msf_localization_component.cc 第 126 行定义.

                                      {
  localization_talker_ =
      node_->CreateWriter<LocalizationEstimate>(localization_topic_);
 
  lidar_local_talker_ =
      node_->CreateWriter<LocalizationEstimate>(lidar_local_topic_);
 
  gnss_local_talker_ =
      node_->CreateWriter<LocalizationEstimate>(gnss_local_topic_);
 
  localization_status_talker_ =
      node_->CreateWriter<LocalizationStatus>(localization_status_topic_);
  return true;
}

PublishLocalizationMsfGnss()

void apollo::localization::LocalizationMsgPublisher::PublishLocalizationMsfGnss

(

const LocalizationEstimate &

localization

)

在文件 msf_localization_component.cc 第 198 行定义.

                                              {
  gnss_local_talker_->Write(localization);
}

PublishLocalizationMsfLidar()

void apollo::localization::LocalizationMsgPublisher::PublishLocalizationMsfLidar

(

const LocalizationEstimate &

localization

)

在文件 msf_localization_component.cc 第 203 行定义.

                                              {
  lidar_local_talker_->Write(localization);
}

PublishLocalizationStatus()

void apollo::localization::LocalizationMsgPublisher::PublishLocalizationStatus

(

const LocalizationStatus &

localization_status

)

在文件 msf_localization_component.cc 第 208 行定义.

                                                   {
  localization_status_talker_->Write(localization_status);
}

PublishPoseBroadcastTF()

void apollo::localization::LocalizationMsgPublisher::PublishPoseBroadcastTF

(

const LocalizationEstimate &

localization

)

在文件 msf_localization_component.cc 第 141 行定义.

                                              {
  // broadcast tf message
  apollo::transform::TransformStamped tf2_msg;
  // uint64_t compensated_delta;
  uint64_t current_send_tf_time = apollo::cyber::Clock::Now().ToNanosecond();
  uint64_t measurement_time =
      apollo::cyber::Time(localization.measurement_time()).ToNanosecond();
 
  auto mutable_head = tf2_msg.mutable_header();
 
  localization_gnss_compensator_ = LocalizationGnssCompensator::Instance();
 
  localization_gnss_compensator_->ProcessCompensation(
      current_send_tf_time, &measurement_time);
 
  mutable_head->set_timestamp_sec(
    apollo::cyber::Time(measurement_time).ToSecond());
  mutable_head->set_frame_id(broadcast_tf_frame_id_);
  tf2_msg.set_child_frame_id(broadcast_tf_child_frame_id_);
 
  auto mutable_translation = tf2_msg.mutable_transform()->mutable_translation();
  mutable_translation->set_x(localization.pose().position().x());
  mutable_translation->set_y(localization.pose().position().y());
  mutable_translation->set_z(localization.pose().position().z());
 
  auto mutable_rotation = tf2_msg.mutable_transform()->mutable_rotation();
  mutable_rotation->set_qx(localization.pose().orientation().qx());
  mutable_rotation->set_qy(localization.pose().orientation().qy());
  mutable_rotation->set_qz(localization.pose().orientation().qz());
  mutable_rotation->set_qw(localization.pose().orientation().qw());
 
  tf2_broadcaster_.SendTransform(tf2_msg);
}

PublishPoseBroadcastTopic()

void apollo::localization::LocalizationMsgPublisher::PublishPoseBroadcastTopic

(

const LocalizationEstimate &

localization

)

在文件 msf_localization_component.cc 第 176 行定义.

                                              {
  double cur_system_time = localization.header().timestamp_sec();
  if (pre_system_time_ > 0.0 && cur_system_time - pre_system_time_ > 0.02) {
    AERROR << std::setprecision(16)
           << "the localization processing time enlonged more than 2 times "
              "according to system time, "
           << "the pre system time and current system time: "
           << pre_system_time_ << " " << cur_system_time;
  } else if (pre_system_time_ > 0.0 &&
             cur_system_time - pre_system_time_ < 0.0) {
    AERROR << std::setprecision(16)
           << "published localization message's time is eary than last imu "
              "message "
              "according to system time, "
           << "the pre system time and current system time: "
           << pre_system_time_ << " " << cur_system_time;
  }
  pre_system_time_ = cur_system_time;
  localization_talker_->Write(localization);
}

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该类的文档由以下文件生成:

• modules/localization/msf/msf_localization_component.h
• modules/localization/msf/msf_localization_component.cc