Purpose / Use cases
A node with boilerplate to operate a localizer and manage the input and output data flows is needed.
Design
RelativeLocalizerNode is a generic relative localization node template that operates a RelativeLocalizerBase implementation, using a PoseInitializerBase implementation.
- At each received observation message, the received message is registered in the localizer with the help of the fetched initial estimate and published.
- At each received map message, the map in the localizer is updated.
Assumptions / Known limits
Since there are multiple callbacks, the node should be run in a single thread at any stage.
Inputs / Outputs / API
Input:
- Map message
- Observation message
- Transform messages for initial estimate
Output:
Error detection and handling
Security considerations
Future extensions / Unimplemented parts
Related issues
- #143 - Implement RelativeLocalizerBaseNode