API Reference

This is the API reference for Beluga ROS. It provides utilities to aid Beluga integration with ROS and ROS 2.

Components

Explore the library’s components:

Generic filters

Generic MCL implementations ready for ROS integration.

beluga_ros::Amcl	2D lidar Adaptive MCL algorithm, functionally equivalent to that of Nav2 AMCL.

Data structures

Thin, Beluga-compatible wrappers for typical ROS data structures (usually messages).

beluga_ros::LaserScan	A beluga::BaseLaserScan subclass that wraps sensor_msgs/LaserScan messages.
beluga_ros::OccupancyGrid	A beluga::BaseOccupancyGrid2 subclass that wraps nav_msgs/OccupancyGrid messages.

Utilities

[particle_cloud.hpp](@ref particle_cloud.hpp)	APIs for particle cloud I/O over ROS interfaces.
[tf2_eigen.hpp](@ref tf2_eigen.hpp)	tf2 message conversion API overloads for Eigen types.
[tf2_sophus.hpp](@ref tf2_sophus.hpp)	tf2 message conversion API overloads for Sophus types.