Struct RosTopicSettings

Struct Documentation

struct vio_common::RosTopicSettings

Public Types

typedef std::unordered_map<std::string, aslam::SensorId> TopicSensorIdMap
typedef std::unordered_map<std::string, size_t> CameraTopicIdxMap

Public Functions

RosTopicSettings(const aslam::NCamera &camera_system, const vi_map::Imu &imu)
explicit RosTopicSettings(const vi_map::SensorManager &sensor_manager)
void getAllValidTopics(std::vector<std::string> *topics)
void makeAbsoluteTopics()

Public Members

CameraTopicIdxMap camera_topic_cam_index_map
std::string imu_topic
std::string camera_topic_suffix
std::string hardware_features_topic
std::string gps_wgs_topic
std::string gps_utm_topic
TopicSensorIdMap lidar_topic_sensor_id_map
std::pair<std::string, aslam::SensorId> odometry_6dof_topic
TopicSensorIdMap loop_closure_topic_map
TopicSensorIdMap absolute_6dof_topic_map
TopicSensorIdMap wheel_odometry_topic_map
TopicSensorIdMap pointcloud_map_topic_map