File disparity_extender_node.hpp

↰ Parent directory (include)

This file contains the declaration of the Class DisparityExtenderNode 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.

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 (File 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 (File simple_speed.hpp)

  • std_msgs/msg/bool.hpp

  • stdexcept

  • string

  • tf2/utils.h

  • utility

  • utils.hpp (File ros_utils.hpp)

  • vector

  • visualization_msgs/msg/marker.hpp

Classes