.. _file_include_disparity_extender_node.hpp:

File disparity_extender_node.hpp
================================

|exhale_lsh| :ref:`Parent directory <dir_include>` (``include``)

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



This file contains the declaration of the :ref:`exhale_class_classDisparityExtenderNode` class, which is a ROS2 node responsible for processing laser scan data to extend disparities. The node subscribes to laser scan, odometry, and status messages, and publishes drive commands and visualization markers. 



.. contents:: Contents
   :local:
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Definition (``include/disparity_extender_node.hpp``)
----------------------------------------------------




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

The algorithm is based on the article "The "Disparity Extender" Algorithm, and F1/Tenth" available at https://www.nathanotterness.com/2019/04/the-disparity-extender-algorithm-and.html. 




Includes
--------


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

- ``algorithm``

- ``cmath``

- ``disparity_extender.hpp`` (:ref:`file_include_disparity_extender.hpp`)

- ``geometry_msgs/msg/point.hpp``

- ``limits``

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

- ``rclcpp/rclcpp.hpp``

- ``sensor_msgs/msg/laser_scan.hpp``

- ``simple_speed.hpp`` (:ref:`file_include_simple_speed.hpp`)

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

- ``stdexcept``

- ``string``

- ``tf2/utils.h``

- ``utility``

- ``utils.hpp`` (:ref:`file_include_ros_utils.hpp`)

- ``vector``

- ``visualization_msgs/msg/marker.hpp``






Classes
-------


- :ref:`exhale_class_classDisparityExtenderNode`