.. _file_include_odometry_odometry_node.hpp:

File odometry_node.hpp
======================

|exhale_lsh| :ref:`Parent directory <dir_include_odometry>` (``include/odometry``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Defines the :ref:`exhale_class_classOdometryNode` class for vehicle odometry reconstruction. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/odometry/odometry_node.hpp``)
---------------------------------------------------




Detailed Description
--------------------

The :ref:`exhale_class_classOdometryNode` class processes data from IMU and vehicle state sensors, applying a chosen reconstruction method. It publishes the computed odometry on a ROS2 topic. 




Includes
--------


- ``ackermann_msgs/msg/ackermann_drive_stamped.hpp``

- ``geometry_msgs/msg/transform_stamped.hpp``

- ``nav_msgs/msg/odometry.hpp``

- ``odometry/odometry.hpp`` (:ref:`file_include_odometry_odometry.hpp`)

- ``rclcpp/logging.hpp``

- ``rclcpp/rclcpp.hpp``

- ``std_msgs/msg/bool.hpp``

- ``tf2/utils.h``

- ``tf2_ros/transform_broadcaster.h``

- ``vector``

- ``vesc_msgs/msg/vesc_imu_stamped.hpp``

- ``vesc_msgs/msg/vesc_state_stamped.hpp``






Classes
-------


- :ref:`exhale_class_classOdometryNode`