px4_ros2::Odometry Class Reference

Provides access to the vehicle's odometry estimate. More...

#include <px4_ros2/odometry/odometry.hpp>

Inheritance diagram for px4_ros2::Odometry:

Public Member Functions
	Odometry (Context &context)
Eigen::Vector3f	positionNed () const
	Get the vehicle's position in the North-East-Down (NED) local frame. More...
Eigen::Vector3f	velocityNed () const
	Get the vehicle's linear velocity in the North-East-Down (NED) frame. More...
Eigen::Vector3f	angularVelocityFrd () const
	Get the vehicle's angular velocity in FRD frame. More...
Eigen::Quaternionf	attitude () const
	Get the vehicle's attitude. More...
float	roll () const
	Get the vehicle's roll in extrinsic RPY order. More...
float	pitch () const
	Get the vehicle's pitch in extrinsic RPY order. More...
float	yaw () const
	Get the vehicle's yaw in extrinsic RPY order. More...
Public Member Functions inherited from px4_ros2::Subscription< px4_msgs::msg::VehicleOdometry >
	Subscription (Context &context, const std::string &topic)
void	onUpdate (const UpdateCallback &callback)
	Add a callback to execute when receiving a new message. More...
const px4_msgs::msg::VehicleOdometry &	last () const
	Get the last-received message. More...
const rclcpp::Time &	lastTime () const
	Get the receive-time of the last message. More...
bool	lastValid (const std::chrono::duration< int64_t, DurationT > max_delay=500ms) const
	Check whether the last message is still valid. To be valid, the message must have been received within a given time of the current time. More...

Additional Inherited Members
Protected Attributes inherited from px4_ros2::Subscription< px4_msgs::msg::VehicleOdometry >
rclcpp::Node &	_node

Detailed Description

Provides access to the vehicle's odometry estimate.

Use this wrapper when you need position, velocity, attitude, and angular rates to be strictly time-aligned from the same odometry message. This class consolidates the odometry snapshot so advanced control (e.g. MPC) or end-to-end reinforcement learning pipelines can consume a consistent state vector at a single timestamp.

Member Function Documentation

angularVelocityFrd()

Eigen::Vector3f px4_ros2::Odometry::angularVelocityFrd ( ) const

inline

Get the vehicle's angular velocity in FRD frame.

Returns

the angular velocity

attitude()

Eigen::Quaternionf px4_ros2::Odometry::attitude ( ) const

inline

Get the vehicle's attitude.

Returns

the attitude quaternion

pitch()

float px4_ros2::Odometry::pitch ( ) const

inline

Get the vehicle's pitch in extrinsic RPY order.

Returns

the attitude pitch in radians within [-pi, pi]

positionNed()

Eigen::Vector3f px4_ros2::Odometry::positionNed ( ) const

inline

Get the vehicle's position in the North-East-Down (NED) local frame.

• Returns

  The [North, East, Down] position in meters.

roll()

float px4_ros2::Odometry::roll ( ) const

inline

Get the vehicle's roll in extrinsic RPY order.

Returns

the attitude roll in radians within [-pi, pi]

velocityNed()

Eigen::Vector3f px4_ros2::Odometry::velocityNed ( ) const

inline

Get the vehicle's linear velocity in the North-East-Down (NED) frame.

• Note

  By default, PX4 uses VELOCITY_FRAME_NED for odometry updates.

  Returns

  the velocity.

yaw()

float px4_ros2::Odometry::yaw ( ) const

inline

Get the vehicle's yaw in extrinsic RPY order.

Returns

the attitude yaw in radians within [-pi, pi]

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

• px4_ros2_cpp/include/px4_ros2/odometry/odometry.hpp