echoflow::RadarGridMapNode Class Reference

Node that builds a 2D grid map from incoming marine radar sector messages. More...

#include <radar_grid_map_node.hpp>

Inheritance diagram for echoflow::RadarGridMapNode:

Collaboration diagram for echoflow::RadarGridMapNode:

Classes
struct	Parameters
	Struct to hold ros2 parameters. More...

Public Member Functions
	RadarGridMapNode ()
	Construct a new RadarGridMapNode object.
std::shared_ptr< grid_map::GridMap >	getMapPtr ()

Protected Member Functions
void	publishCostmap ()
	Publishes the current grid map as an occupancy grid.
void	radarSectorCallback (const marine_sensor_msgs::msg::RadarSector::SharedPtr msg)
	Callback when a new radar sector message is received.
void	addToQueue (const marine_sensor_msgs::msg::RadarSector::SharedPtr msg)
	Adds a radar sector message to the internal processing queue.
void	processQueue ()
	Processes all messages in the radar sector queue.
void	processMsg (const marine_sensor_msgs::msg::RadarSector::SharedPtr msg)
	Processes a single radar sector message.
void	recenterMap (const grid_map::Position &new_center)
	Recenters the grid map around a new position.

Protected Attributes
Parameters	parameters_
	Runtime parameters.

Detailed Description

Node that builds a 2D grid map from incoming marine radar sector messages.

This node subscribes to radar sector messages, applies optional near-field clutter filtering, performs coordinate transformations using TF2, and publishes both a grid map and an occupancy grid.

Constructor & Destructor Documentation

RadarGridMapNode()

RadarGridMapNode::RadarGridMapNode

(

)

Construct a new RadarGridMapNode object.

Member Function Documentation

addToQueue()

void RadarGridMapNode::addToQueue ( const marine_sensor_msgs::msg::RadarSector::SharedPtr msg )

protected

Adds a radar sector message to the internal processing queue.

Parameters

msg	Shared pointer to the radar sector message.

getMapPtr()

std::shared_ptr< grid_map::GridMap > echoflow::RadarGridMapNode::getMapPtr ( )

inline

processMsg()

void RadarGridMapNode::processMsg ( const marine_sensor_msgs::msg::RadarSector::SharedPtr msg )

protected

Processes a single radar sector message.

Parameters

msg	Shared pointer to the radar sector message.

processQueue()

void RadarGridMapNode::processQueue ( )

protected

Processes all messages in the radar sector queue.

publishCostmap()

void RadarGridMapNode::publishCostmap ( )

protected

Publishes the current grid map as an occupancy grid.

radarSectorCallback()

void RadarGridMapNode::radarSectorCallback ( const marine_sensor_msgs::msg::RadarSector::SharedPtr msg )

protected

Callback when a new radar sector message is received.

Parameters

msg	Shared pointer to the received radar sector message.

recenterMap()

void RadarGridMapNode::recenterMap ( const grid_map::Position & new_center )

protected

Recenters the grid map around a new position.

Parameters

new_center

New center position in map coordinates.

Member Data Documentation

parameters_

Parameters echoflow::RadarGridMapNode::parameters_

protected

Runtime parameters.

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

• echoflow/include/echoflow/radar_grid_map_node.hpp
• echoflow/src/radar_grid_map_node.cpp