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 manages a localizer implementation and a map implementation which respectively conforms to the interfaces specified in LocalizerConstraint and MapConstraint and a map implementation that conforms to the inter, using a PoseInitializerBase implementation.

The type constraints are implemented as structs encapsulating series of static assertions which make the compilation fail with informant messages if the given algorithm implementation does not provide the required interfaces to the RelativeLocalizerNode. Please see the documentation of these constraint structs to understand the interface requirements for new implementations of localization and mapping algorithms.

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:

Output pose message

Error detection and handling

Security considerations

Future extensions / Unimplemented parts

Related issues

#143 - Implement RelativeLocalizerBaseNode