Struct RosTopicSettings

• Defined in File rostopic-settings.h

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