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+
+:orphan:
+
+.. title:: Beluga AMCL: Member List
+
+Member List
+===========
+
+.. container:: doxygen-content
+
+   
+   .. raw:: html
+     :file: classbeluga__amcl_1_1BaseAMCLNode-members.html
diff --git a/_sources/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1BaseAMCLNode.rst b/_sources/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1BaseAMCLNode.rst
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+
+:orphan:
+
+.. title:: Beluga AMCL: beluga_amcl::BaseAMCLNode Class Reference
+
+BaseAMCLNode Class Reference
+============================
+
+.. container:: doxygen-content
+
+   
+   .. raw:: html
+     :file: classbeluga__amcl_1_1BaseAMCLNode.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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index 111dc5f16..e619760c3 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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index 42341b557..0f79131ad 100644
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+++ b/concepts/architecture.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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-    <meta name="docbuild:last-update" content="&#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;"/>
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 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a0fb40e9bce8dc06837f1ee1d518a3b60"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a0fb40e9bce8dc06837f1ee1d518a3b60">beluga_amcl::AmclNode::map_callback</a></div><div class="ttdeci">void map_callback(nav_msgs::msg::OccupancyGrid::SharedPtr)</div><div class="ttdoc">Callback for occupancy grid map updates.</div></div>
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-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a192a1582366fb5a02787dd72dc28650c"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a192a1582366fb5a02787dd72dc28650c">beluga_amcl::AmclNode::on_shutdown</a></div><div class="ttdeci">CallbackReturn on_shutdown(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from most states to the FINALIZED state.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a216048a20eac111e95a1b55e4b579a3c"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a216048a20eac111e95a1b55e4b579a3c">beluga_amcl::AmclNode::tf_buffer_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::Buffer &gt; tf_buffer_</div><div class="ttdoc">Transforms buffer.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:167</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a105e54cf326117f74b37d076fab8e18f"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a105e54cf326117f74b37d076fab8e18f">beluga_amcl::AmclNode::enable_tf_broadcast_</a></div><div class="ttdeci">bool enable_tf_broadcast_</div><div class="ttdoc">Whether to broadcast transforms or not.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:154</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a27846648d294e4e1d92a016490489488"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a27846648d294e4e1d92a016490489488">beluga_amcl::AmclNode::get_motion_model</a></div><div class="ttdeci">auto get_motion_model(std::string_view) const -&gt; beluga_ros::Amcl::motion_model_variant</div><div class="ttdoc">Get motion model as per current parametrization.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a29c93142f881fa924e867374220c8e15"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a29c93142f881fa924e867374220c8e15">beluga_amcl::AmclNode::bond_</a></div><div class="ttdeci">std::unique_ptr&lt; bond::Bond &gt; bond_</div><div class="ttdoc">Node bond with the lifecycle manager.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:137</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a2bd80dc9ed5df3f451d8cd4814e1baf6"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a2bd80dc9ed5df3f451d8cd4814e1baf6">beluga_amcl::AmclNode::last_known_odom_transform_in_map_</a></div><div class="ttdeci">std::optional&lt; Sophus::SE2d &gt; last_known_odom_transform_in_map_</div><div class="ttdoc">Last known map to odom correction estimate, if any.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:182</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a2bd80dc9ed5df3f451d8cd4814e1baf6"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a2bd80dc9ed5df3f451d8cd4814e1baf6">beluga_amcl::AmclNode::last_known_odom_transform_in_map_</a></div><div class="ttdeci">std::optional&lt; Sophus::SE2d &gt; last_known_odom_transform_in_map_</div><div class="ttdoc">Last known map to odom correction estimate, if any.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:152</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a2ef9a29925a5290aa453099ea2857fc7"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a2ef9a29925a5290aa453099ea2857fc7">beluga_amcl::AmclNode::global_localization_callback</a></div><div class="ttdeci">void global_localization_callback(std::shared_ptr&lt; rmw_request_id_t &gt; request_header, std::shared_ptr&lt; std_srvs::srv::Empty::Request &gt; request, std::shared_ptr&lt; std_srvs::srv::Empty::Response &gt; response)</div><div class="ttdoc">Callback for the global relocalization service.</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a307aea420958de892b5baa200180e8fa"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a307aea420958de892b5baa200180e8fa">beluga_amcl::AmclNode::AmclNode</a></div><div class="ttdeci">AmclNode(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions())</div><div class="ttdoc">Constructor.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a30d7de447e89b2da4f892e4c3401508a"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a30d7de447e89b2da4f892e4c3401508a">beluga_amcl::AmclNode::autostart_timer_</a></div><div class="ttdeci">rclcpp::TimerBase::SharedPtr autostart_timer_</div><div class="ttdoc">Timer for node to configure and activate itself.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:143</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a30ecd1b1d256ff9c6f4d9c4744dd5efd"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a30ecd1b1d256ff9c6f4d9c4744dd5efd">beluga_amcl::AmclNode::get_initial_estimate</a></div><div class="ttdeci">auto get_initial_estimate() const -&gt; std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt;&gt;</div><div class="ttdoc">Get initial pose estimate from parameters if set.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a397cc830e8a9cf22a3cc03430c999bba"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a397cc830e8a9cf22a3cc03430c999bba">beluga_amcl::AmclNode::initial_pose_sub_</a></div><div class="ttdeci">rclcpp::Subscription&lt; geometry_msgs::msg::PoseWithCovarianceStamped &gt;::SharedPtr initial_pose_sub_</div><div class="ttdoc">Pose (re)initialization subscription.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:154</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a3a51f69867b3bf5ea0b3fc968419a2d7"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a3a51f69867b3bf5ea0b3fc968419a2d7">beluga_amcl::AmclNode::nomotion_update_server_</a></div><div class="ttdeci">rclcpp::Service&lt; std_srvs::srv::Empty &gt;::SharedPtr nomotion_update_server_</div><div class="ttdoc">No motion update service server.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:164</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a3a51f69867b3bf5ea0b3fc968419a2d7"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a3a51f69867b3bf5ea0b3fc968419a2d7">beluga_amcl::AmclNode::nomotion_update_server_</a></div><div class="ttdeci">rclcpp::Service&lt; std_srvs::srv::Empty &gt;::SharedPtr nomotion_update_server_</div><div class="ttdoc">No motion update service server.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:140</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a4234394f4df6d4a816ec3c2213f63618"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a4234394f4df6d4a816ec3c2213f63618">beluga_amcl::AmclNode::do_autostart_callback</a></div><div class="ttdeci">void do_autostart_callback() override</div><div class="ttdoc">Callback for node to configure and activate itself.</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a42e551eeed6cef60935f05f76d9bb39e"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a42e551eeed6cef60935f05f76d9bb39e">beluga_amcl::AmclNode::get_execution_policy</a></div><div class="ttdeci">static auto get_execution_policy(std::string_view) -&gt; beluga_ros::Amcl::execution_policy_variant</div><div class="ttdoc">Get execution policy given its name.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a478e2cc657380e7686d42fe6ecf530f3"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a478e2cc657380e7686d42fe6ecf530f3">beluga_amcl::AmclNode::on_deactivate</a></div><div class="ttdeci">CallbackReturn on_deactivate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the ACTIVE state to the INACTIVE state.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a4a2baf7525f60bc22135c44b22a5b3d0"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a4a2baf7525f60bc22135c44b22a5b3d0">beluga_amcl::AmclNode::on_configure</a></div><div class="ttdeci">CallbackReturn on_configure(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the UNCONFIGURED state to the INACTIVE state.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a4d534a1787ef7a38bb64b1e1037cbc2c"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a4d534a1787ef7a38bb64b1e1037cbc2c">beluga_amcl::AmclNode::laser_scan_sub_</a></div><div class="ttdeci">std::unique_ptr&lt; message_filters::Subscriber&lt; sensor_msgs::msg::LaserScan, rclcpp_lifecycle::LifecycleNode &gt; &gt; laser_scan_sub_</div><div class="ttdoc">Laser scan updates subscription.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:159</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a4d534a1787ef7a38bb64b1e1037cbc2c"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a4d534a1787ef7a38bb64b1e1037cbc2c">beluga_amcl::AmclNode::laser_scan_sub_</a></div><div class="ttdeci">std::unique_ptr&lt; message_filters::Subscriber&lt; sensor_msgs::msg::LaserScan, rclcpp_lifecycle::LifecycleNode &gt; &gt; laser_scan_sub_</div><div class="ttdoc">Laser scan updates subscription.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:135</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a514d3cfe13659402c77fd841138898f3"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a514d3cfe13659402c77fd841138898f3">beluga_amcl::AmclNode::nomotion_update_callback</a></div><div class="ttdeci">void nomotion_update_callback(std::shared_ptr&lt; rmw_request_id_t &gt; request_header, std::shared_ptr&lt; std_srvs::srv::Empty::Request &gt; req, std::shared_ptr&lt; std_srvs::srv::Empty::Response &gt; res)</div><div class="ttdoc">Callback for the no motion update service.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a5c9153d4a6b0349d229b05a4a18a9258"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a5c9153d4a6b0349d229b05a4a18a9258">beluga_amcl::AmclNode::particle_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; beluga_ros::Amcl &gt; particle_filter_</div><div class="ttdoc">Particle filter instance.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:178</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a62c3c4a69814262c1adbfbabf5f21579"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a62c3c4a69814262c1adbfbabf5f21579">beluga_amcl::AmclNode::tf_broadcaster_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::TransformBroadcaster &gt; tf_broadcaster_</div><div class="ttdoc">Transforms broadcaster.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:169</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a63ba33c7b4294327e829405b90e2b391"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a63ba33c7b4294327e829405b90e2b391">beluga_amcl::AmclNode::on_cleanup</a></div><div class="ttdeci">CallbackReturn on_cleanup(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the INACTIVE state to the UNCONFIGURED state.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a665084b3537153978253152e7ea79654"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a665084b3537153978253152e7ea79654">beluga_amcl::AmclNode::particle_markers_pub_</a></div><div class="ttdeci">rclcpp_lifecycle::LifecyclePublisher&lt; visualization_msgs::msg::MarkerArray &gt;::SharedPtr particle_markers_pub_</div><div class="ttdoc">Particle markers publisher.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:148</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a70700f0bab5cf655f19e22285471424d"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a70700f0bab5cf655f19e22285471424d">beluga_amcl::AmclNode::timer_</a></div><div class="ttdeci">rclcpp::TimerBase::SharedPtr timer_</div><div class="ttdoc">Timer for periodic particle cloud updates.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:140</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a73146a423d14cae735a2fc52a8ac3170"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a73146a423d14cae735a2fc52a8ac3170">beluga_amcl::AmclNode::particle_cloud_pub_</a></div><div class="ttdeci">rclcpp_lifecycle::LifecyclePublisher&lt; geometry_msgs::msg::PoseArray &gt;::SharedPtr particle_cloud_pub_</div><div class="ttdoc">Particle cloud publisher.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:146</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a5c9153d4a6b0349d229b05a4a18a9258"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a5c9153d4a6b0349d229b05a4a18a9258">beluga_amcl::AmclNode::particle_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; beluga_ros::Amcl &gt; particle_filter_</div><div class="ttdoc">Particle filter instance.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:148</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a6a76a936aa8a1acb921fd503aca7c3d6"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a6a76a936aa8a1acb921fd503aca7c3d6">beluga_amcl::AmclNode::do_activate</a></div><div class="ttdeci">void do_activate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the INACTIVE state to the ACTIVE state.</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a7837326166db4a7a9164c84d222c550b"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a7837326166db4a7a9164c84d222c550b">beluga_amcl::AmclNode::initialize_from_estimate</a></div><div class="ttdeci">bool initialize_from_estimate(const std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &amp;estimate)</div><div class="ttdoc">Initialize particles from an estimated pose and covariance.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a7f93438aafd52c5d29229953eb6e0852"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a7f93438aafd52c5d29229953eb6e0852">beluga_amcl::AmclNode::global_localization_server_</a></div><div class="ttdeci">rclcpp::Service&lt; std_srvs::srv::Empty &gt;::SharedPtr global_localization_server_</div><div class="ttdoc">Global relocalization service server.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:162</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a853dd327e1766ac57568b5c34d69ed13"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a853dd327e1766ac57568b5c34d69ed13">beluga_amcl::AmclNode::map_sub_</a></div><div class="ttdeci">rclcpp::Subscription&lt; nav_msgs::msg::OccupancyGrid &gt;::SharedPtr map_sub_</div><div class="ttdoc">Occupancy grid map updates subscription.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:156</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a85ce493d505d48baeca6c87bd079ee61"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a85ce493d505d48baeca6c87bd079ee61">beluga_amcl::AmclNode::laser_scan_connection_</a></div><div class="ttdeci">message_filters::Connection laser_scan_connection_</div><div class="ttdoc">Connection for laser scan updates filter and callback.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:175</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_aa475152f7a192d962da110cfd4b1f161"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#aa475152f7a192d962da110cfd4b1f161">beluga_amcl::AmclNode::initial_pose_callback</a></div><div class="ttdeci">void initial_pose_callback(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr)</div><div class="ttdoc">Callback for pose (re)initialization.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_ab42ca14b854219d045eb57f5e17930be"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#ab42ca14b854219d045eb57f5e17930be">beluga_amcl::AmclNode::tf_listener_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::TransformListener &gt; tf_listener_</div><div class="ttdoc">Transforms listener.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:171</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_abe60e9df3c96cea63619c7a71773b5e6"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#abe60e9df3c96cea63619c7a71773b5e6">beluga_amcl::AmclNode::timer_callback</a></div><div class="ttdeci">void timer_callback()</div><div class="ttdoc">Callback for periodic particle cloud updates.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_acbb885e90973ee5053f1f5c8b3b97f8e"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#acbb885e90973ee5053f1f5c8b3b97f8e">beluga_amcl::AmclNode::pose_pub_</a></div><div class="ttdeci">rclcpp_lifecycle::LifecyclePublisher&lt; geometry_msgs::msg::PoseWithCovarianceStamped &gt;::SharedPtr pose_pub_</div><div class="ttdoc">Estimated pose publisher.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:151</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a7f93438aafd52c5d29229953eb6e0852"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a7f93438aafd52c5d29229953eb6e0852">beluga_amcl::AmclNode::global_localization_server_</a></div><div class="ttdeci">rclcpp::Service&lt; std_srvs::srv::Empty &gt;::SharedPtr global_localization_server_</div><div class="ttdoc">Global relocalization service server.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:138</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a853dd327e1766ac57568b5c34d69ed13"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a853dd327e1766ac57568b5c34d69ed13">beluga_amcl::AmclNode::map_sub_</a></div><div class="ttdeci">rclcpp::Subscription&lt; nav_msgs::msg::OccupancyGrid &gt;::SharedPtr map_sub_</div><div class="ttdoc">Occupancy grid map updates subscription.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:132</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a85ce493d505d48baeca6c87bd079ee61"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a85ce493d505d48baeca6c87bd079ee61">beluga_amcl::AmclNode::laser_scan_connection_</a></div><div class="ttdeci">message_filters::Connection laser_scan_connection_</div><div class="ttdoc">Connection for laser scan updates filter and callback.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:145</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a9f964e31e1d592f2909156d3deaa417e"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a9f964e31e1d592f2909156d3deaa417e">beluga_amcl::AmclNode::do_periodic_timer_callback</a></div><div class="ttdeci">void do_periodic_timer_callback() override</div><div class="ttdoc">Callback for periodic particle cloud updates.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_aab83cab94efa0f515cdbb5cf2699eb9a"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#aab83cab94efa0f515cdbb5cf2699eb9a">beluga_amcl::AmclNode::do_initial_pose_callback</a></div><div class="ttdeci">void do_initial_pose_callback(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr) override</div><div class="ttdoc">Callback for pose (re)initialization.</div></div>
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-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
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   <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a307aea420958de892b5baa200180e8fa">AmclNode</a>(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions())</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a85ce493d505d48baeca6c87bd079ee61">laser_scan_connection_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#aefa65a6b68af8a70b02cee7968ededf5">laser_scan_filter_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a4d534a1787ef7a38bb64b1e1037cbc2c">laser_scan_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#af356a5b5195c68c741fe1aa4374c5817">last_known_estimate_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a2bd80dc9ed5df3f451d8cd4814e1baf6">last_known_odom_transform_in_map_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#af4e512e2627bcf83b497e2f086dd97e7">make_particle_filter</a>(nav_msgs::msg::OccupancyGrid::SharedPtr) const -&gt; std::unique_ptr&lt; beluga_ros::Amcl &gt;</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a0fb40e9bce8dc06837f1ee1d518a3b60">map_callback</a>(nav_msgs::msg::OccupancyGrid::SharedPtr)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a853dd327e1766ac57568b5c34d69ed13">map_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a514d3cfe13659402c77fd841138898f3">nomotion_update_callback</a>(std::shared_ptr&lt; rmw_request_id_t &gt; request_header, std::shared_ptr&lt; std_srvs::srv::Empty::Request &gt; req, std::shared_ptr&lt; std_srvs::srv::Empty::Response &gt; res)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a3a51f69867b3bf5ea0b3fc968419a2d7">nomotion_update_server_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a0232723583dfee2e796cc87820b6d839">on_activate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a63ba33c7b4294327e829405b90e2b391">on_cleanup</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a4a2baf7525f60bc22135c44b22a5b3d0">on_configure</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a478e2cc657380e7686d42fe6ecf530f3">on_deactivate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a192a1582366fb5a02787dd72dc28650c">on_shutdown</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a73146a423d14cae735a2fc52a8ac3170">particle_cloud_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a5c9153d4a6b0349d229b05a4a18a9258">particle_filter_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a665084b3537153978253152e7ea79654">particle_markers_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#acbb885e90973ee5053f1f5c8b3b97f8e">pose_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a62c3c4a69814262c1adbfbabf5f21579">tf_broadcaster_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a216048a20eac111e95a1b55e4b579a3c">tf_buffer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#ab42ca14b854219d045eb57f5e17930be">tf_listener_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a70700f0bab5cf655f19e22285471424d">timer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#abe60e9df3c96cea63619c7a71773b5e6">timer_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~AmclNode</b>() override (defined in <a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a>)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a092106befa33dc59582ee5d5c5576092">autostart_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac3cff77d78f464934b2b32e7c2045a48">autostart_timer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#afa50e522b77e0d6a9c2487d9391b7b36">BaseAMCLNode</a>(const std::string &amp;node_name=&quot;amcl&quot;, const std::string &amp;node_namespace=&quot;&quot;, const rclcpp::NodeOptions &amp;node_options=rclcpp::NodeOptions{})</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a132faa2c69def19aa24a6bc3685506f3">bond_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abfe28d871258a991c2b228134ffce060">common_callback_group_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3be1c4638e6383411b140d59869f7c05">common_subscription_options_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a6a76a936aa8a1acb921fd503aca7c3d6">do_activate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">beluga_amcl::BaseAMCLNode::do_activate</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a4234394f4df6d4a816ec3c2213f63618">do_autostart_callback</a>() override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#ae12065e04f2619f4c61ad5dc0e23dd37">do_cleanup</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aaad2145c3861651dd0bfca4b4fe91e73">beluga_amcl::BaseAMCLNode::do_cleanup</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a146afa75ee718c1aa089559ffa4a91e0">do_configure</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#ad67d96a91b5ed28e609c2af65b886ab9">do_deactivate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a343f92f8ce9b16c388bc6b367372baa9">beluga_amcl::BaseAMCLNode::do_deactivate</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#aab83cab94efa0f515cdbb5cf2699eb9a">do_initial_pose_callback</a>(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">beluga_amcl::BaseAMCLNode::do_initial_pose_callback</a>([[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a9f964e31e1d592f2909156d3deaa417e">do_periodic_timer_callback</a>() override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a2ae607902c8050454330ff45785c7247">do_shutdown</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a105e54cf326117f74b37d076fab8e18f">enable_tf_broadcast_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a42e551eeed6cef60935f05f76d9bb39e">get_execution_policy</a>(std::string_view) -&gt; beluga_ros::Amcl::execution_policy_variant</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a30ecd1b1d256ff9c6f4d9c4744dd5efd">get_initial_estimate</a>() const -&gt; std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt;&gt;</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a27846648d294e4e1d92a016490489488">get_motion_model</a>(std::string_view) const -&gt; beluga_ros::Amcl::motion_model_variant</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#aefde4c57c11bb69157c996b7d6f9daa3">get_sensor_model</a>(std::string_view, nav_msgs::msg::OccupancyGrid::SharedPtr) const -&gt; beluga_ros::Amcl::sensor_model_variant</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a2ef9a29925a5290aa453099ea2857fc7">global_localization_callback</a>(std::shared_ptr&lt; rmw_request_id_t &gt; request_header, std::shared_ptr&lt; std_srvs::srv::Empty::Request &gt; request, std::shared_ptr&lt; std_srvs::srv::Empty::Response &gt; response)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a7f93438aafd52c5d29229953eb6e0852">global_localization_server_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">initial_pose_callback</a>(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac21e0a5574bd3a743cc7be191f5f4c50">initial_pose_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a7837326166db4a7a9164c84d222c550b">initialize_from_estimate</a>(const std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &amp;estimate)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#ae9c2db7b037341bdcf97e80795dcec77">initialize_from_map</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a000ad7e3f576131d90d7ed66b94d652e">laser_callback</a>(sensor_msgs::msg::LaserScan::ConstSharedPtr)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a85ce493d505d48baeca6c87bd079ee61">laser_scan_connection_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#aefa65a6b68af8a70b02cee7968ededf5">laser_scan_filter_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a4d534a1787ef7a38bb64b1e1037cbc2c">laser_scan_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#af356a5b5195c68c741fe1aa4374c5817">last_known_estimate_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a2bd80dc9ed5df3f451d8cd4814e1baf6">last_known_odom_transform_in_map_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#af4e512e2627bcf83b497e2f086dd97e7">make_particle_filter</a>(nav_msgs::msg::OccupancyGrid::SharedPtr) const -&gt; std::unique_ptr&lt; beluga_ros::Amcl &gt;</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a0fb40e9bce8dc06837f1ee1d518a3b60">map_callback</a>(nav_msgs::msg::OccupancyGrid::SharedPtr)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a853dd327e1766ac57568b5c34d69ed13">map_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a514d3cfe13659402c77fd841138898f3">nomotion_update_callback</a>(std::shared_ptr&lt; rmw_request_id_t &gt; request_header, std::shared_ptr&lt; std_srvs::srv::Empty::Request &gt; req, std::shared_ptr&lt; std_srvs::srv::Empty::Response &gt; res)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a3a51f69867b3bf5ea0b3fc968419a2d7">nomotion_update_server_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a48dad9a24ae400e73026646e5753789a">on_activate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a4947ff1f6d3ea8369f1a2c392460896c">on_cleanup</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a16cdce2884adb55d59ee585aa819bb5f">on_configure</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a9d5a3eec8c33e48097483a8c85d8d933">on_deactivate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a6943f1f5e17278589a83fe71165609a2">on_shutdown</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7ba7d07827d5279a98bc572fc08df437">particle_cloud_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html#a5c9153d4a6b0349d229b05a4a18a9258">particle_filter_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3ce5b37032443c1651bcada26f77224f">particle_markers_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ae9f2cea1a98d12277eb07454b4031af9">periodic_timer_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac95ec7145c7d97c802f2c7786c40fbf8">pose_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aa6ec10aa1a68ab40fa29d3eca640fa02">tf_broadcaster_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab00f2e2ab057b887af4135899b9087e5">tf_buffer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38590b0e5b2b1e331ecb539f04d1b76d">tf_listener_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7dd93a451948e793576070e5bc27e71d">timer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~AmclNode</b>() override (defined in <a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a>)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abb92b76171374e8f42c2a4d24b330ddb">~BaseAMCLNode</a>() override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
@@ -538,7 +554,7 @@ <h1>Member List<a class="headerlink" href="#member-list" title="Link to this hea
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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diff --git a/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1AmclNode.html b/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1AmclNode.html
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--- a/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1AmclNode.html
+++ b/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1AmclNode.html
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   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;"/>
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@@ -452,13 +452,13 @@ <h1>AmclNode Class Reference<a class="headerlink" href="#amclnode-class-referenc
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 Inheritance diagram for beluga_amcl::AmclNode:</div>
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-<div class="center"><iframe scrolling="no" frameborder="0" src="classbeluga__amcl_1_1AmclNode__inherit__graph.svg" width="234" height="112"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe>
+<div class="center"><iframe scrolling="no" frameborder="0" src="classbeluga__amcl_1_1AmclNode__inherit__graph.svg" width="234" height="187"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe>
 </div>
 <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
 <div class="dynheader">
 Collaboration diagram for beluga_amcl::AmclNode:</div>
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-<div class="center"><iframe scrolling="no" frameborder="0" src="classbeluga__amcl_1_1AmclNode__coll__graph.svg" width="234" height="112"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe>
+<div class="center"><iframe scrolling="no" frameborder="0" src="classbeluga__amcl_1_1AmclNode__coll__graph.svg" width="234" height="187"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe>
 </div>
 <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
 <table class="memberdecls">
@@ -468,29 +468,30 @@ <h1>AmclNode Class Reference<a class="headerlink" href="#amclnode-class-referenc
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+<tr class="inherit_header pub_methods_classbeluga__amcl_1_1BaseAMCLNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classbeluga__amcl_1_1BaseAMCLNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td></tr>
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+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abb92b76171374e8f42c2a4d24b330ddb">~BaseAMCLNode</a> () override</td></tr>
+<tr class="memdesc:abb92b76171374e8f42c2a4d24b330ddb inherit pub_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for the base AMCL node. <br /></td></tr>
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+<tr class="separator:a146afa75ee718c1aa089559ffa4a91e0 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a788aa4698cfc1e1dd683b11e22cf5045 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memItemLeft" align="right" valign="top"><a id="a788aa4698cfc1e1dd683b11e22cf5045"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">do_initial_pose_callback</a> ([[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td></tr>
+<tr class="memdesc:a788aa4698cfc1e1dd683b11e22cf5045 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for (re)initialization messages. <br /></td></tr>
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../tutorials/particle-filtering.html">Primer on Particle Filtering with Beluga</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../tutorials/nav2-integration.html">Using Beluga with Nav2</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Packages</span></p>
+<ul class="nav bd-sidenav">
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+    <!-- Table of contents -->
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+                <article class="bd-article">
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+<h1>Member List<a class="headerlink" href="#member-list" title="Link to this heading">#</a></h1>
+<div class="doxygen-content docutils container">
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">Beluga AMCL
+   </div>
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+ </tr>
+ </tbody>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+/* @license-end */</script>
+<div id="main-nav"></div>
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>beluga_amcl</b></li><li class="navelem"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">BaseAMCLNode</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">beluga_amcl::BaseAMCLNode Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a092106befa33dc59582ee5d5c5576092">autostart_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac3cff77d78f464934b2b32e7c2045a48">autostart_timer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#afa50e522b77e0d6a9c2487d9391b7b36">BaseAMCLNode</a>(const std::string &amp;node_name=&quot;amcl&quot;, const std::string &amp;node_namespace=&quot;&quot;, const rclcpp::NodeOptions &amp;node_options=rclcpp::NodeOptions{})</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a132faa2c69def19aa24a6bc3685506f3">bond_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abfe28d871258a991c2b228134ffce060">common_callback_group_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3be1c4638e6383411b140d59869f7c05">common_subscription_options_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">do_activate</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ad36206a8f483715987d967136cdc8aa2">do_autostart_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aaad2145c3861651dd0bfca4b4fe91e73">do_cleanup</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a146afa75ee718c1aa089559ffa4a91e0">do_configure</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a343f92f8ce9b16c388bc6b367372baa9">do_deactivate</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">do_initial_pose_callback</a>([[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38a95d3c2fa48fc5ef260dfea601742e">do_periodic_timer_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a2ae607902c8050454330ff45785c7247">do_shutdown</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">initial_pose_callback</a>(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac21e0a5574bd3a743cc7be191f5f4c50">initial_pose_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a48dad9a24ae400e73026646e5753789a">on_activate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a4947ff1f6d3ea8369f1a2c392460896c">on_cleanup</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a16cdce2884adb55d59ee585aa819bb5f">on_configure</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a9d5a3eec8c33e48097483a8c85d8d933">on_deactivate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a6943f1f5e17278589a83fe71165609a2">on_shutdown</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7ba7d07827d5279a98bc572fc08df437">particle_cloud_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3ce5b37032443c1651bcada26f77224f">particle_markers_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ae9f2cea1a98d12277eb07454b4031af9">periodic_timer_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac95ec7145c7d97c802f2c7786c40fbf8">pose_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aa6ec10aa1a68ab40fa29d3eca640fa02">tf_broadcaster_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab00f2e2ab057b887af4135899b9087e5">tf_buffer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abb92b76171374e8f42c2a4d24b330ddb">~BaseAMCLNode</a>() override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<ul class="nav bd-sidenav">
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+    <h1>BaseAMCLNode Class Reference</h1>
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+                <article class="bd-article">
+                  
+  <section id="baseamclnode-class-reference">
+<h1>BaseAMCLNode Class Reference<a class="headerlink" href="#baseamclnode-class-reference" title="Link to this heading">#</a></h1>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classbeluga__amcl_1_1BaseAMCLNode-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">beluga_amcl::BaseAMCLNode Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="ros2__common_8hpp_source.html">ros2_common.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for beluga_amcl::BaseAMCLNode:</div>
+<div class="dyncontent">
+<div class="center"><iframe scrolling="no" frameborder="0" src="classbeluga__amcl_1_1BaseAMCLNode__inherit__graph.svg" width="419" height="187"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe>
+</div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for beluga_amcl::BaseAMCLNode:</div>
+<div class="dyncontent">
+<div class="center"><iframe scrolling="no" frameborder="0" src="classbeluga__amcl_1_1BaseAMCLNode__coll__graph.svg" width="234" height="112"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe>
+</div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:afa50e522b77e0d6a9c2487d9391b7b36"><td class="memItemLeft" align="right" valign="top"><a id="afa50e522b77e0d6a9c2487d9391b7b36"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#afa50e522b77e0d6a9c2487d9391b7b36">BaseAMCLNode</a> (const std::string &amp;node_name=&quot;amcl&quot;, const std::string &amp;node_namespace=&quot;&quot;, const rclcpp::NodeOptions &amp;node_options=rclcpp::NodeOptions{})</td></tr>
+<tr class="memdesc:afa50e522b77e0d6a9c2487d9391b7b36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor, following LifecycleNode signature. <br /></td></tr>
+<tr class="separator:afa50e522b77e0d6a9c2487d9391b7b36"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abb92b76171374e8f42c2a4d24b330ddb">~BaseAMCLNode</a> () override</td></tr>
+<tr class="memdesc:abb92b76171374e8f42c2a4d24b330ddb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for the base AMCL node. <br /></td></tr>
+<tr class="separator:abb92b76171374e8f42c2a4d24b330ddb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a16cdce2884adb55d59ee585aa819bb5f"><td class="memItemLeft" align="right" valign="top"><a id="a16cdce2884adb55d59ee585aa819bb5f"></a>
+CallbackReturn&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a16cdce2884adb55d59ee585aa819bb5f">on_configure</a> (const rclcpp_lifecycle::State &amp;) override</td></tr>
+<tr class="memdesc:a16cdce2884adb55d59ee585aa819bb5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for lifecycle transitions from the UNCONFIGURED state to the INACTIVE state. <br /></td></tr>
+<tr class="separator:a16cdce2884adb55d59ee585aa819bb5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+CallbackReturn&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a48dad9a24ae400e73026646e5753789a">on_activate</a> (const rclcpp_lifecycle::State &amp;) override</td></tr>
+<tr class="memdesc:a48dad9a24ae400e73026646e5753789a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for lifecycle transitions from the INACTIVE state to the ACTIVE state. <br /></td></tr>
+<tr class="separator:a48dad9a24ae400e73026646e5753789a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+CallbackReturn&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a9d5a3eec8c33e48097483a8c85d8d933">on_deactivate</a> (const rclcpp_lifecycle::State &amp;) override</td></tr>
+<tr class="memdesc:a9d5a3eec8c33e48097483a8c85d8d933"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for lifecycle transitions from the ACTIVE state to the INACTIVE state. <br /></td></tr>
+<tr class="separator:a9d5a3eec8c33e48097483a8c85d8d933"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4947ff1f6d3ea8369f1a2c392460896c"><td class="memItemLeft" align="right" valign="top"><a id="a4947ff1f6d3ea8369f1a2c392460896c"></a>
+CallbackReturn&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a4947ff1f6d3ea8369f1a2c392460896c">on_cleanup</a> (const rclcpp_lifecycle::State &amp;) override</td></tr>
+<tr class="memdesc:a4947ff1f6d3ea8369f1a2c392460896c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for lifecycle transitions from the INACTIVE state to the UNCONFIGURED state. <br /></td></tr>
+<tr class="separator:a4947ff1f6d3ea8369f1a2c392460896c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a6943f1f5e17278589a83fe71165609a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for lifecycle transitions from most states to the FINALIZED state. <br /></td></tr>
+<tr class="separator:a6943f1f5e17278589a83fe71165609a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae9f2cea1a98d12277eb07454b4031af9"><td class="memItemLeft" align="right" valign="top"><a id="ae9f2cea1a98d12277eb07454b4031af9"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ae9f2cea1a98d12277eb07454b4031af9">periodic_timer_callback</a> ()</td></tr>
+<tr class="memdesc:ae9f2cea1a98d12277eb07454b4031af9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for the periodic particle updates. <br /></td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a092106befa33dc59582ee5d5c5576092">autostart_callback</a> ()</td></tr>
+<tr class="memdesc:a092106befa33dc59582ee5d5c5576092"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for the autostart timer. <br /></td></tr>
+<tr class="separator:a092106befa33dc59582ee5d5c5576092"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad36206a8f483715987d967136cdc8aa2"><td class="memItemLeft" align="right" valign="top"><a id="ad36206a8f483715987d967136cdc8aa2"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ad36206a8f483715987d967136cdc8aa2">do_autostart_callback</a> ()</td></tr>
+<tr class="memdesc:ad36206a8f483715987d967136cdc8aa2"><td class="mdescLeft">&#160;</td><td class="mdescRight">User provided extra steps for the autostart process. <br /></td></tr>
+<tr class="separator:ad36206a8f483715987d967136cdc8aa2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a146afa75ee718c1aa089559ffa4a91e0"><td class="memItemLeft" align="right" valign="top"><a id="a146afa75ee718c1aa089559ffa4a91e0"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a146afa75ee718c1aa089559ffa4a91e0">do_configure</a> ([[maybe_unused]] const rclcpp_lifecycle::State &amp;<a class="elRef" href="../../../../../../beluga/docs/_doxygen/generated/reference/html/namespacebeluga.html#a706431bba3d6cfb1ee0690221f3a9af9">state</a>)</td></tr>
+<tr class="memdesc:a146afa75ee718c1aa089559ffa4a91e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for the on_configure callback. Defaults to no-op. <br /></td></tr>
+<tr class="separator:a146afa75ee718c1aa089559ffa4a91e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a343f92f8ce9b16c388bc6b367372baa9"><td class="memItemLeft" align="right" valign="top"><a id="a343f92f8ce9b16c388bc6b367372baa9"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a343f92f8ce9b16c388bc6b367372baa9">do_deactivate</a> ([[maybe_unused]] const rclcpp_lifecycle::State &amp;<a class="elRef" href="../../../../../../beluga/docs/_doxygen/generated/reference/html/namespacebeluga.html#a706431bba3d6cfb1ee0690221f3a9af9">state</a>)</td></tr>
+<tr class="memdesc:a343f92f8ce9b16c388bc6b367372baa9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for the on_deactivate callback. Defaults to no-op. <br /></td></tr>
+<tr class="separator:a343f92f8ce9b16c388bc6b367372baa9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a2ae607902c8050454330ff45785c7247">do_shutdown</a> ([[maybe_unused]] const rclcpp_lifecycle::State &amp;<a class="elRef" href="../../../../../../beluga/docs/_doxygen/generated/reference/html/namespacebeluga.html#a706431bba3d6cfb1ee0690221f3a9af9">state</a>)</td></tr>
+<tr class="memdesc:a2ae607902c8050454330ff45785c7247"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for the on_shutdown callback. Defaults to no-op. <br /></td></tr>
+<tr class="separator:a2ae607902c8050454330ff45785c7247"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaad2145c3861651dd0bfca4b4fe91e73"><td class="memItemLeft" align="right" valign="top"><a id="aaad2145c3861651dd0bfca4b4fe91e73"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aaad2145c3861651dd0bfca4b4fe91e73">do_cleanup</a> ([[maybe_unused]] const rclcpp_lifecycle::State &amp;<a class="elRef" href="../../../../../../beluga/docs/_doxygen/generated/reference/html/namespacebeluga.html#a706431bba3d6cfb1ee0690221f3a9af9">state</a>)</td></tr>
+<tr class="memdesc:aaad2145c3861651dd0bfca4b4fe91e73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for the on_cleanup callback. Defaults to no-op. <br /></td></tr>
+<tr class="separator:aaad2145c3861651dd0bfca4b4fe91e73"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">do_activate</a> ([[maybe_unused]] const rclcpp_lifecycle::State &amp;<a class="elRef" href="../../../../../../beluga/docs/_doxygen/generated/reference/html/namespacebeluga.html#a706431bba3d6cfb1ee0690221f3a9af9">state</a>)</td></tr>
+<tr class="memdesc:a0a4dc9c29b50af8b6ae2d38c3ed0dedf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for the on_activate callback. Defaults to no-op. <br /></td></tr>
+<tr class="separator:a0a4dc9c29b50af8b6ae2d38c3ed0dedf"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a38a95d3c2fa48fc5ef260dfea601742e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for the periodic updates timer callback events. Defaults to no-op. <br /></td></tr>
+<tr class="separator:a38a95d3c2fa48fc5ef260dfea601742e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">do_initial_pose_callback</a> ([[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td></tr>
+<tr class="memdesc:a788aa4698cfc1e1dd683b11e22cf5045"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for (re)initialization messages. <br /></td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">initial_pose_callback</a> (geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td></tr>
+<tr class="memdesc:ab3a56093a25e45eaea077fa854bbaea7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback for (re)initialization messages. <br /></td></tr>
+<tr class="separator:ab3a56093a25e45eaea077fa854bbaea7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a7ba7d07827d5279a98bc572fc08df437"><td class="memItemLeft" align="right" valign="top"><a id="a7ba7d07827d5279a98bc572fc08df437"></a>
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+<tr class="memdesc:a7ba7d07827d5279a98bc572fc08df437"><td class="mdescLeft">&#160;</td><td class="mdescRight">Particle cloud publisher. <br /></td></tr>
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+<tr class="memdesc:a3ce5b37032443c1651bcada26f77224f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Particle markers publisher. <br /></td></tr>
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+<tr class="memdesc:ac95ec7145c7d97c802f2c7786c40fbf8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimated pose publisher. <br /></td></tr>
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+<tr class="memdesc:aa6ec10aa1a68ab40fa29d3eca640fa02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transforms broadcaster. <br /></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Base AMCL lifecycle node, with some basic common functionalities, such as transform tree utilities, common publishers, subscribers, lifecycle related callbacks and configuration points, enabling extension by inheritance. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
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+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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@@ -441,39 +441,55 @@ <h1>Member List<a class="headerlink" href="#member-list" title="Link to this hea
 
 <p>This is the complete list of members for <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a>, including all inherited members.</p>
 <table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ac587f590df896bd0eadf9004cdca14de">autostart_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a7e7e9d1f5cd47c1be59f3e68462a63f8">autostart_timer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#af7e0f45dc7c988f60b9cc7e322436f6c">bond_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ac84bc73e5ebb64ac5b64cb9431fa5de0">enable_tf_broadcast_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#afb207b9c33b93943a63274a54730ae55">get_execution_policy</a>() const -&gt; ExecutionPolicyVariant</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a83d92f8750f7070e65f2afffadc021ba">get_initial_estimate</a>() const -&gt; std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt;&gt;</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a67187e4a50fd5b4864444014dd9516b5">get_motion_model</a>() const -&gt; MotionModelVariant</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a3c52f1c4771c046585f21d08705c443f">get_sensor_model</a>() const</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ac29fd83cbc89724e13ec6d2fd0e03ef7">initial_pose_callback</a>(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ad95c729aa7cf169005e4f352ee98010f">initial_pose_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a09fb0b03527b46f469040608559f0bfa">initialize_from_estimate</a>(const std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &amp;estimate)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ada781e158c2cb34240ba464ba8b11bdc">laser_callback</a>(sensor_msgs::msg::LaserScan::ConstSharedPtr)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a2612f7d9164bbbb7cde242c0319a08c5">laser_scan_connection_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#af92d809fd2fa8d923ec1cac8b4749d13">laser_scan_filter_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aa8cb9892037fc7c07c6e18b29fc8515e">laser_scan_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aadc883734bf305bb6d5f4b91241166d2">last_known_estimate_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a1a9a47c70edf1eafc42eb7db95ee339b">last_known_odom_transform_in_map_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ad9a94e0e728b9bf6fc22bb0dd17439e6">make_particle_filter</a>() const -&gt; std::unique_ptr&lt; NdtAmclVariant &gt;</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a3756a920b40a9e20ceacaf26c49b7f80">NdtAmclNode</a>(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions())</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aced6bda2511a04da00e5af9abd496529">on_activate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a7b114936b593082cf2d6da55211ce64e">on_cleanup</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a14389b9a97c3ff80d00141d742233a2d">on_configure</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a8a43a49c580627f611f096ac6cd800c7">on_deactivate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a3827040738154b1b451cf719d3bafcda">on_shutdown</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a060c6c434cd4aa622d9c5f1602f292e0">particle_cloud_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a3d8f638420ca827b39c8f48b8a1b43e8">particle_filter_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aafd609c94133c25e5a10e3028a249223">pose_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a2a2d6dce495f0fcb8d0e9b319cc43e98">tf_broadcaster_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a51c7bb4405638725d2a1c3e62a143c27">tf_buffer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ab5e414ff6354268f83216c739fdf8aed">tf_listener_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a9b1642c005bcb9dbe1be2f93a9894998">timer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aed53ff271b7560b8676c4f0a52cea6db">timer_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~NdtAmclNode</b>() override (defined in <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a>)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a092106befa33dc59582ee5d5c5576092">autostart_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac3cff77d78f464934b2b32e7c2045a48">autostart_timer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#afa50e522b77e0d6a9c2487d9391b7b36">BaseAMCLNode</a>(const std::string &amp;node_name=&quot;amcl&quot;, const std::string &amp;node_namespace=&quot;&quot;, const rclcpp::NodeOptions &amp;node_options=rclcpp::NodeOptions{})</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a132faa2c69def19aa24a6bc3685506f3">bond_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abfe28d871258a991c2b228134ffce060">common_callback_group_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3be1c4638e6383411b140d59869f7c05">common_subscription_options_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a2ffd148f66bdcf0a89a8b54881f501c8">do_activate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">beluga_amcl::BaseAMCLNode::do_activate</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a63b23b037e2afb68371ecf408e15de09">do_autostart_callback</a>() override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a12c05edd0c6a96e8ea2bdb33defaecc7">do_cleanup</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aaad2145c3861651dd0bfca4b4fe91e73">beluga_amcl::BaseAMCLNode::do_cleanup</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a146afa75ee718c1aa089559ffa4a91e0">do_configure</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#afe50846b6eaaf301729490528e342ace">do_deactivate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a343f92f8ce9b16c388bc6b367372baa9">beluga_amcl::BaseAMCLNode::do_deactivate</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a0cf435cdb0a2ef5214d7f6575b71259b">do_initial_pose_callback</a>(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">beluga_amcl::BaseAMCLNode::do_initial_pose_callback</a>([[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a245fa6bfe5b24791ee034b7748a5c582">do_periodic_timer_callback</a>() override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a2ae607902c8050454330ff45785c7247">do_shutdown</a>([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ac84bc73e5ebb64ac5b64cb9431fa5de0">enable_tf_broadcast_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#afb207b9c33b93943a63274a54730ae55">get_execution_policy</a>() const -&gt; ExecutionPolicyVariant</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a83d92f8750f7070e65f2afffadc021ba">get_initial_estimate</a>() const -&gt; std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt;&gt;</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a67187e4a50fd5b4864444014dd9516b5">get_motion_model</a>() const -&gt; MotionModelVariant</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a3c52f1c4771c046585f21d08705c443f">get_sensor_model</a>() const</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">initial_pose_callback</a>(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac21e0a5574bd3a743cc7be191f5f4c50">initial_pose_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a09fb0b03527b46f469040608559f0bfa">initialize_from_estimate</a>(const std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &amp;estimate)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ada781e158c2cb34240ba464ba8b11bdc">laser_callback</a>(sensor_msgs::msg::LaserScan::ConstSharedPtr)</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a2612f7d9164bbbb7cde242c0319a08c5">laser_scan_connection_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#af92d809fd2fa8d923ec1cac8b4749d13">laser_scan_filter_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aa8cb9892037fc7c07c6e18b29fc8515e">laser_scan_sub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aadc883734bf305bb6d5f4b91241166d2">last_known_estimate_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a1a9a47c70edf1eafc42eb7db95ee339b">last_known_odom_transform_in_map_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ad9a94e0e728b9bf6fc22bb0dd17439e6">make_particle_filter</a>() const -&gt; std::unique_ptr&lt; NdtAmclVariant &gt;</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a6173e1d95bf43477b012aebcf36911e6">NdtAmclNode</a>(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions{})</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a48dad9a24ae400e73026646e5753789a">on_activate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a4947ff1f6d3ea8369f1a2c392460896c">on_cleanup</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a16cdce2884adb55d59ee585aa819bb5f">on_configure</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a9d5a3eec8c33e48097483a8c85d8d933">on_deactivate</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a6943f1f5e17278589a83fe71165609a2">on_shutdown</a>(const rclcpp_lifecycle::State &amp;) override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7ba7d07827d5279a98bc572fc08df437">particle_cloud_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a3d8f638420ca827b39c8f48b8a1b43e8">particle_filter_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3ce5b37032443c1651bcada26f77224f">particle_markers_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ae9f2cea1a98d12277eb07454b4031af9">periodic_timer_callback</a>()</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac95ec7145c7d97c802f2c7786c40fbf8">pose_pub_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aa6ec10aa1a68ab40fa29d3eca640fa02">tf_broadcaster_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab00f2e2ab057b887af4135899b9087e5">tf_buffer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38590b0e5b2b1e331ecb539f04d1b76d">tf_listener_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7dd93a451948e793576070e5bc27e71d">timer_</a></td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abb92b76171374e8f42c2a4d24b330ddb">~BaseAMCLNode</a>() override</td><td class="entry"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></td><td class="entry"></td></tr>
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 <!-- start footer part -->
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@@ -530,7 +546,7 @@ <h1>Member List<a class="headerlink" href="#member-list" title="Link to this hea
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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diff --git a/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1NdtAmclNode.html b/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1NdtAmclNode.html
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+++ b/packages/beluga_amcl/docs/_doxygen/generated/reference/html/classbeluga__amcl_1_1NdtAmclNode.html
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-    <meta name="docbuild:last-update" content="&#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;"/>
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 Collaboration diagram for beluga_amcl::NdtAmclNode:</div>
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+<div class="center"><iframe scrolling="no" frameborder="0" src="classbeluga__amcl_1_1NdtAmclNode__coll__graph.svg" width="234" height="187"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe>
 </div>
 <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
 <table class="memberdecls">
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 Public Member Functions</h2></td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a092106befa33dc59582ee5d5c5576092">autostart_callback</a> ()</td></tr>
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+<tr class="separator:a146afa75ee718c1aa089559ffa4a91e0 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a343f92f8ce9b16c388bc6b367372baa9">do_deactivate</a> ([[maybe_unused]] const rclcpp_lifecycle::State &amp;<a class="elRef" href="../../../../../../beluga/docs/_doxygen/generated/reference/html/namespacebeluga.html#a706431bba3d6cfb1ee0690221f3a9af9">state</a>)</td></tr>
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+<tr class="separator:a343f92f8ce9b16c388bc6b367372baa9 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2ae607902c8050454330ff45785c7247 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:aaad2145c3861651dd0bfca4b4fe91e73 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for the on_cleanup callback. Defaults to no-op. <br /></td></tr>
+<tr class="separator:aaad2145c3861651dd0bfca4b4fe91e73 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">do_activate</a> ([[maybe_unused]] const rclcpp_lifecycle::State &amp;<a class="elRef" href="../../../../../../beluga/docs/_doxygen/generated/reference/html/namespacebeluga.html#a706431bba3d6cfb1ee0690221f3a9af9">state</a>)</td></tr>
+<tr class="memdesc:a0a4dc9c29b50af8b6ae2d38c3ed0dedf inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for the on_activate callback. Defaults to no-op. <br /></td></tr>
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+<tr class="memitem:a788aa4698cfc1e1dd683b11e22cf5045 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memItemLeft" align="right" valign="top"><a id="a788aa4698cfc1e1dd683b11e22cf5045"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">do_initial_pose_callback</a> ([[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td></tr>
+<tr class="memdesc:a788aa4698cfc1e1dd683b11e22cf5045 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extra steps for (re)initialization messages. <br /></td></tr>
+<tr class="separator:a788aa4698cfc1e1dd683b11e22cf5045 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3a56093a25e45eaea077fa854bbaea7 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memItemLeft" align="right" valign="top"><a id="ab3a56093a25e45eaea077fa854bbaea7"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">initial_pose_callback</a> (geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</td></tr>
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+<tr class="separator:ab3a56093a25e45eaea077fa854bbaea7 inherit pro_methods_classbeluga__amcl_1_1BaseAMCLNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
 Protected Attributes</h2></td></tr>
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+</li>
+<li>do_configure()
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+</li>
+<li>do_deactivate()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#ad67d96a91b5ed28e609c2af65b886ab9">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a343f92f8ce9b16c388bc6b367372baa9">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#afe50846b6eaaf301729490528e342ace">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_initial_pose_callback()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#aab83cab94efa0f515cdbb5cf2699eb9a">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a0cf435cdb0a2ef5214d7f6575b71259b">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_periodic_timer_callback()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#a9f964e31e1d592f2909156d3deaa417e">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38a95d3c2fa48fc5ef260dfea601742e">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a245fa6bfe5b24791ee034b7748a5c582">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_shutdown()
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a2ae607902c8050454330ff45785c7247">beluga_amcl::BaseAMCLNode</a>
+</li>
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-, <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a592fc9b7f8014fc1a3389a200b5b144d">beluga_amcl::AmclNodelet</a>
-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ac29fd83cbc89724e13ec6d2fd0e03ef7">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a592fc9b7f8014fc1a3389a200b5b144d">beluga_amcl::AmclNodelet</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">beluga_amcl::BaseAMCLNode</a>
 </li>
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-, <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a6031d439b19be1894dd545dd89b2e65d">beluga_amcl::AmclNodelet</a>
-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ad95c729aa7cf169005e4f352ee98010f">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a6031d439b19be1894dd545dd89b2e65d">beluga_amcl::AmclNodelet</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac21e0a5574bd3a743cc7be191f5f4c50">beluga_amcl::BaseAMCLNode</a>
 </li>
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+: <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a6173e1d95bf43477b012aebcf36911e6">beluga_amcl::NdtAmclNode</a>
 </li>
 <li>nomotion_update_callback()
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-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aced6bda2511a04da00e5af9abd496529">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a48dad9a24ae400e73026646e5753789a">beluga_amcl::BaseAMCLNode</a>
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-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a7b114936b593082cf2d6da55211ce64e">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a4947ff1f6d3ea8369f1a2c392460896c">beluga_amcl::BaseAMCLNode</a>
 </li>
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-: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#a4a2baf7525f60bc22135c44b22a5b3d0">beluga_amcl::AmclNode</a>
-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a14389b9a97c3ff80d00141d742233a2d">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a16cdce2884adb55d59ee585aa819bb5f">beluga_amcl::BaseAMCLNode</a>
 </li>
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-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a8a43a49c580627f611f096ac6cd800c7">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a9d5a3eec8c33e48097483a8c85d8d933">beluga_amcl::BaseAMCLNode</a>
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-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a3827040738154b1b451cf719d3bafcda">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a6943f1f5e17278589a83fe71165609a2">beluga_amcl::BaseAMCLNode</a>
 </li>
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-, <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a1ca5f2e3b803210c4b8b4d4d09fd023c">beluga_amcl::AmclNodelet</a>
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+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a1ca5f2e3b803210c4b8b4d4d09fd023c">beluga_amcl::AmclNodelet</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7ba7d07827d5279a98bc572fc08df437">beluga_amcl::BaseAMCLNode</a>
 </li>
 <li>particle_cloud_timer_
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 </li>
 <li>particle_markers_pub_
-: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#a665084b3537153978253152e7ea79654">beluga_amcl::AmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3ce5b37032443c1651bcada26f77224f">beluga_amcl::BaseAMCLNode</a>
+</li>
+<li>periodic_timer_callback()
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ae9f2cea1a98d12277eb07454b4031af9">beluga_amcl::BaseAMCLNode</a>
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-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aafd609c94133c25e5a10e3028a249223">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a2e12837c2c63129a7566f5f055f0326d">beluga_amcl::AmclNodelet</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac95ec7145c7d97c802f2c7786c40fbf8">beluga_amcl::BaseAMCLNode</a>
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 <h3><a id="index_t"></a>- t -</h3><ul>
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-, <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a73b790777c9145338677a98337d3752f">beluga_amcl::AmclNodelet</a>
-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a2a2d6dce495f0fcb8d0e9b319cc43e98">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a73b790777c9145338677a98337d3752f">beluga_amcl::AmclNodelet</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aa6ec10aa1a68ab40fa29d3eca640fa02">beluga_amcl::BaseAMCLNode</a>
 </li>
 <li>tf_buffer_
-: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#a216048a20eac111e95a1b55e4b579a3c">beluga_amcl::AmclNode</a>
-, <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a1467c38b5682f8b337589f2e81682250">beluga_amcl::AmclNodelet</a>
-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a51c7bb4405638725d2a1c3e62a143c27">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a1467c38b5682f8b337589f2e81682250">beluga_amcl::AmclNodelet</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab00f2e2ab057b887af4135899b9087e5">beluga_amcl::BaseAMCLNode</a>
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 <li>tf_listener_
-: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#ab42ca14b854219d045eb57f5e17930be">beluga_amcl::AmclNode</a>
-, <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#aede92246daf43d752b0e92682d87a0b5">beluga_amcl::AmclNodelet</a>
-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ab5e414ff6354268f83216c739fdf8aed">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#aede92246daf43d752b0e92682d87a0b5">beluga_amcl::AmclNodelet</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38590b0e5b2b1e331ecb539f04d1b76d">beluga_amcl::BaseAMCLNode</a>
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-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a9b1642c005bcb9dbe1be2f93a9894998">beluga_amcl::NdtAmclNode</a>
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-<li>timer_callback()
-: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#abe60e9df3c96cea63619c7a71773b5e6">beluga_amcl::AmclNode</a>
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+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7dd93a451948e793576070e5bc27e71d">beluga_amcl::BaseAMCLNode</a>
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 </li>
 </ul>
+
+
+<h3><a id="index__7E"></a>- ~ -</h3><ul>
+<li>~BaseAMCLNode()
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#abb92b76171374e8f42c2a4d24b330ddb">beluga_amcl::BaseAMCLNode</a>
+</li>
+</ul>
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 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
@@ -829,7 +864,7 @@ <h3><a id="index_u"></a>- u -</h3><ul>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
   <br/>
 </p>
   </div>
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   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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 </p>
   </div>
diff --git a/packages/beluga_amcl/docs/_doxygen/generated/reference/html/functions_func.html b/packages/beluga_amcl/docs/_doxygen/generated/reference/html/functions_func.html
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+++ b/packages/beluga_amcl/docs/_doxygen/generated/reference/html/functions_func.html
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   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;"/>
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-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#ac587f590df896bd0eadf9004cdca14de">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a092106befa33dc59582ee5d5c5576092">beluga_amcl::BaseAMCLNode</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>BaseAMCLNode()
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#afa50e522b77e0d6a9c2487d9391b7b36">beluga_amcl::BaseAMCLNode</a>
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@@ -466,6 +472,46 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 </ul>
 
 
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>do_activate()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#a6a76a936aa8a1acb921fd503aca7c3d6">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a2ffd148f66bdcf0a89a8b54881f501c8">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_autostart_callback()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#a4234394f4df6d4a816ec3c2213f63618">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ad36206a8f483715987d967136cdc8aa2">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a63b23b037e2afb68371ecf408e15de09">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_cleanup()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#ae12065e04f2619f4c61ad5dc0e23dd37">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#aaad2145c3861651dd0bfca4b4fe91e73">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a12c05edd0c6a96e8ea2bdb33defaecc7">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_configure()
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a146afa75ee718c1aa089559ffa4a91e0">beluga_amcl::BaseAMCLNode</a>
+</li>
+<li>do_deactivate()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#ad67d96a91b5ed28e609c2af65b886ab9">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a343f92f8ce9b16c388bc6b367372baa9">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#afe50846b6eaaf301729490528e342ace">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_initial_pose_callback()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#aab83cab94efa0f515cdbb5cf2699eb9a">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a0cf435cdb0a2ef5214d7f6575b71259b">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_periodic_timer_callback()
+: <a class="el" href="classbeluga__amcl_1_1AmclNode.html#a9f964e31e1d592f2909156d3deaa417e">beluga_amcl::AmclNode</a>
+, <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38a95d3c2fa48fc5ef260dfea601742e">beluga_amcl::BaseAMCLNode</a>
+, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a245fa6bfe5b24791ee034b7748a5c582">beluga_amcl::NdtAmclNode</a>
+</li>
+<li>do_shutdown()
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a2ae607902c8050454330ff45785c7247">beluga_amcl::BaseAMCLNode</a>
+</li>
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+
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+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a592fc9b7f8014fc1a3389a200b5b144d">beluga_amcl::AmclNodelet</a>
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+: <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#a6173e1d95bf43477b012aebcf36911e6">beluga_amcl::NdtAmclNode</a>
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-, <a class="el" href="classbeluga__amcl_1_1NdtAmclNode.html#aced6bda2511a04da00e5af9abd496529">beluga_amcl::NdtAmclNode</a>
+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a48dad9a24ae400e73026646e5753789a">beluga_amcl::BaseAMCLNode</a>
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+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a4947ff1f6d3ea8369f1a2c392460896c">beluga_amcl::BaseAMCLNode</a>
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+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a16cdce2884adb55d59ee585aa819bb5f">beluga_amcl::BaseAMCLNode</a>
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+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a9d5a3eec8c33e48097483a8c85d8d933">beluga_amcl::BaseAMCLNode</a>
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+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#a6943f1f5e17278589a83fe71165609a2">beluga_amcl::BaseAMCLNode</a>
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+: <a class="el" href="classbeluga__amcl_1_1BaseAMCLNode.html#ae9f2cea1a98d12277eb07454b4031af9">beluga_amcl::BaseAMCLNode</a>
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+: <a class="el" href="classbeluga__amcl_1_1AmclNodelet.html#a96bb9f87c976874b8782ac4072aeee0c">beluga_amcl::AmclNodelet</a>
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-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
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+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}  <span class="comment">// namespace beluga_amcl</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:52</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html">beluga_amcl::NdtAmclNode</a></div><div class="ttdoc">2D NDT AMCL as a ROS 2 composable lifecycle node.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:100</div></div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a245fa6bfe5b24791ee034b7748a5c582"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a245fa6bfe5b24791ee034b7748a5c582">beluga_amcl::NdtAmclNode::do_periodic_timer_callback</a></div><div class="ttdeci">void do_periodic_timer_callback() override</div><div class="ttdoc">Callback for periodic particle cloud updates.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a2612f7d9164bbbb7cde242c0319a08c5"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a2612f7d9164bbbb7cde242c0319a08c5">beluga_amcl::NdtAmclNode::laser_scan_connection_</a></div><div class="ttdeci">message_filters::Connection laser_scan_connection_</div><div class="ttdoc">Connection for laser scan updates filter and callback.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:160</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a2ffd148f66bdcf0a89a8b54881f501c8"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a2ffd148f66bdcf0a89a8b54881f501c8">beluga_amcl::NdtAmclNode::do_activate</a></div><div class="ttdeci">void do_activate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the INACTIVE state to the ACTIVE state.</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a3c52f1c4771c046585f21d08705c443f"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a3c52f1c4771c046585f21d08705c443f">beluga_amcl::NdtAmclNode::get_sensor_model</a></div><div class="ttdeci">beluga::NDTSensorModel&lt; NDTMapRepresentation &gt; get_sensor_model() const</div><div class="ttdoc">Get sensor model as per current parametrization.</div></div>
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-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a51c7bb4405638725d2a1c3e62a143c27"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a51c7bb4405638725d2a1c3e62a143c27">beluga_amcl::NdtAmclNode::tf_buffer_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::Buffer &gt; tf_buffer_</div><div class="ttdoc">Transforms buffer.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:178</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a3d8f638420ca827b39c8f48b8a1b43e8"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a3d8f638420ca827b39c8f48b8a1b43e8">beluga_amcl::NdtAmclNode::particle_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; NdtAmclVariant &gt; particle_filter_</div><div class="ttdoc">Particle filter instance.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:163</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a6173e1d95bf43477b012aebcf36911e6"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a6173e1d95bf43477b012aebcf36911e6">beluga_amcl::NdtAmclNode::NdtAmclNode</a></div><div class="ttdeci">NdtAmclNode(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions{})</div><div class="ttdoc">Constructor.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a63b23b037e2afb68371ecf408e15de09"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a63b23b037e2afb68371ecf408e15de09">beluga_amcl::NdtAmclNode::do_autostart_callback</a></div><div class="ttdeci">void do_autostart_callback() override</div><div class="ttdoc">Callback for node to configure and activate itself.</div></div>
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 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a83d92f8750f7070e65f2afffadc021ba"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a83d92f8750f7070e65f2afffadc021ba">beluga_amcl::NdtAmclNode::get_initial_estimate</a></div><div class="ttdeci">auto get_initial_estimate() const -&gt; std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt;&gt;</div><div class="ttdoc">Get initial pose estimate from parameters if set.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a8a43a49c580627f611f096ac6cd800c7"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a8a43a49c580627f611f096ac6cd800c7">beluga_amcl::NdtAmclNode::on_deactivate</a></div><div class="ttdeci">CallbackReturn on_deactivate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the ACTIVE state to the INACTIVE state.</div></div>
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-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_aadc883734bf305bb6d5f4b91241166d2"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#aadc883734bf305bb6d5f4b91241166d2">beluga_amcl::NdtAmclNode::last_known_estimate_</a></div><div class="ttdeci">std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &gt; last_known_estimate_</div><div class="ttdoc">Last known pose estimate, if any.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:191</div></div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_aa8cb9892037fc7c07c6e18b29fc8515e"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#aa8cb9892037fc7c07c6e18b29fc8515e">beluga_amcl::NdtAmclNode::laser_scan_sub_</a></div><div class="ttdeci">std::unique_ptr&lt; message_filters::Subscriber&lt; sensor_msgs::msg::LaserScan, rclcpp_lifecycle::LifecycleNode &gt; &gt; laser_scan_sub_</div><div class="ttdoc">Laser scan updates subscription.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:155</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_aadc883734bf305bb6d5f4b91241166d2"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#aadc883734bf305bb6d5f4b91241166d2">beluga_amcl::NdtAmclNode::last_known_estimate_</a></div><div class="ttdeci">std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &gt; last_known_estimate_</div><div class="ttdoc">Last known pose estimate, if any.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:165</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_ac84bc73e5ebb64ac5b64cb9431fa5de0"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#ac84bc73e5ebb64ac5b64cb9431fa5de0">beluga_amcl::NdtAmclNode::enable_tf_broadcast_</a></div><div class="ttdeci">bool enable_tf_broadcast_</div><div class="ttdoc">Whether to broadcast transforms or not.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:169</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_ad9a94e0e728b9bf6fc22bb0dd17439e6"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#ad9a94e0e728b9bf6fc22bb0dd17439e6">beluga_amcl::NdtAmclNode::make_particle_filter</a></div><div class="ttdeci">auto make_particle_filter() const -&gt; std::unique_ptr&lt; NdtAmclVariant &gt;</div><div class="ttdoc">Instantiate particle filter given an initial occupancy grid map and the current parametrization.</div></div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_af92d809fd2fa8d923ec1cac8b4749d13"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#af92d809fd2fa8d923ec1cac8b4749d13">beluga_amcl::NdtAmclNode::laser_scan_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::MessageFilter&lt; sensor_msgs::msg::LaserScan &gt; &gt; laser_scan_filter_</div><div class="ttdoc">Transform synchronization filter for laser scan updates.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:158</div></div>
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-<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/create_timer_ros.h&gt;</span></div>
-<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
-<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;<a class="codeRef" href="../../../../../../beluga_ros/docs/_doxygen/generated/reference/html/tf2__sophus_8hpp.html">beluga_ros/tf2_sophus.hpp</a>&gt;</span></div>
-<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
-<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">namespace </span>beluga_amcl {</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;rclcpp/node_options.hpp&gt;</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;rclcpp_lifecycle/lifecycle_node.hpp&gt;</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;rclcpp_lifecycle/state.hpp&gt;</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;string_view&gt;</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;bondcpp/bond.hpp&gt;</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/msg/pose_stamped.hpp&gt;</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;rclcpp/time.hpp&gt;</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;tf2/convert.h&gt;</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;tf2/utils.h&gt;</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/create_timer_ros.h&gt;</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/transform_broadcaster.h&gt;</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/transform_listener.h&gt;</span></div>
 <div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
-<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;constexpr std::string_view kDifferentialModelName = <span class="stringliteral">&quot;differential_drive&quot;</span>;</div>
-<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;constexpr std::string_view kOmnidirectionalModelName = <span class="stringliteral">&quot;omnidirectional_drive&quot;</span>;</div>
-<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;constexpr std::string_view kStationaryModelName = <span class="stringliteral">&quot;stationary&quot;</span>;</div>
-<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;constexpr std::string_view kNav2DifferentialModelName = <span class="stringliteral">&quot;nav2_amcl::DifferentialMotionModel&quot;</span>;</div>
-<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;constexpr std::string_view kNav2OmnidirectionalModelName = <span class="stringliteral">&quot;nav2_amcl::OmniMotionModel&quot;</span>;</div>
-<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
-<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> declare_common_params(rclcpp_lifecycle::LifecycleNode&amp; node) {</div>
-<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
-<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    descriptor.description = <span class="stringliteral">&quot;The name of the coordinate frame published by the localization system.&quot;</span>;</div>
-<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;global_frame_id&quot;</span>, rclcpp::ParameterValue(<span class="stringliteral">&quot;map&quot;</span>), descriptor);</div>
-<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  }</div>
-<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
-<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
-<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    descriptor.description = <span class="stringliteral">&quot;The name of the coordinate frame to use for odometry.&quot;</span>;</div>
-<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;odom_frame_id&quot;</span>, rclcpp::ParameterValue(<span class="stringliteral">&quot;odom&quot;</span>), descriptor);</div>
-<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  }</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;<a class="codeRef" href="../../../../../../beluga_ros/docs/_doxygen/generated/reference/html/tf2__sophus_8hpp.html">beluga_ros/tf2_sophus.hpp</a>&gt;</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span>beluga_amcl {</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;constexpr std::string_view kDifferentialModelName = <span class="stringliteral">&quot;differential_drive&quot;</span>;</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;constexpr std::string_view kOmnidirectionalModelName = <span class="stringliteral">&quot;omnidirectional_drive&quot;</span>;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;constexpr std::string_view kStationaryModelName = <span class="stringliteral">&quot;stationary&quot;</span>;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;constexpr std::string_view kNav2DifferentialModelName = <span class="stringliteral">&quot;nav2_amcl::DifferentialMotionModel&quot;</span>;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;constexpr std::string_view kNav2OmnidirectionalModelName = <span class="stringliteral">&quot;nav2_amcl::OmniMotionModel&quot;</span>;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html">   52</a></span>&#160;<span class="keyword">class </span><a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html">BaseAMCLNode</a> : <span class="keyword">public</span> rclcpp_lifecycle::LifecycleNode {</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#afa50e522b77e0d6a9c2487d9391b7b36">   55</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#afa50e522b77e0d6a9c2487d9391b7b36">BaseAMCLNode</a>(</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">const</span> std::string&amp; node_name = <span class="stringliteral">&quot;amcl&quot;</span>,</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">const</span> std::string&amp; node_namespace = <span class="stringliteral">&quot;&quot;</span>,</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">const</span> rclcpp::NodeOptions&amp; node_options = rclcpp::NodeOptions{});</div>
 <div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
-<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
-<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    descriptor.description = <span class="stringliteral">&quot;The name of the coordinate frame to use for the robot base.&quot;</span>;</div>
-<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;base_frame_id&quot;</span>, rclcpp::ParameterValue(<span class="stringliteral">&quot;base_footprint&quot;</span>), descriptor);</div>
-<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  }</div>
-<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
-<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
-<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Path to load the map from an hdf5 file.&quot;</span>;</div>
-<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;map_path&quot;</span>, rclcpp::ParameterValue(<span class="stringliteral">&quot;map_path&quot;</span>), descriptor);</div>
-<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div>
-<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
-<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
-<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Topic to subscribe to in order to receive the initial pose of the robot.&quot;</span>;</div>
-<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;initial_pose_topic&quot;</span>, rclcpp::ParameterValue(<span class="stringliteral">&quot;initialpose&quot;</span>), descriptor);</div>
-<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  }</div>
-<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
-<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
-<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Topic to subscribe to in order to receive the laser scan for localization.&quot;</span>;</div>
-<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;scan_topic&quot;</span>, rclcpp::ParameterValue(<span class="stringliteral">&quot;scan&quot;</span>), descriptor);</div>
-<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  }</div>
-<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
-<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
-<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Minimum allowed number of particles.&quot;</span>;</div>
-<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    descriptor.integer_range.resize(1);</div>
-<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    descriptor.integer_range[0].from_value = 0;</div>
-<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    descriptor.integer_range[0].to_value = std::numeric_limits&lt;int&gt;::max();</div>
-<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    descriptor.integer_range[0].step = 1;</div>
-<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;min_particles&quot;</span>, rclcpp::ParameterValue(500), descriptor);</div>
-<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div>
-<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
-<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  {</div>
-<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Maximum allowed number of particles.&quot;</span>;</div>
-<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    descriptor.integer_range.resize(1);</div>
-<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    descriptor.integer_range[0].from_value = 0;</div>
-<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    descriptor.integer_range[0].to_value = std::numeric_limits&lt;int&gt;::max();</div>
-<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    descriptor.integer_range[0].step = 1;</div>
-<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;max_particles&quot;</span>, rclcpp::ParameterValue(2000), descriptor);</div>
-<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div>
-<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
-<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  {</div>
-<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="stringliteral">&quot;Exponential decay rate for the slow average weight filter, used in deciding when to recover &quot;</span></div>
-<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="stringliteral">&quot;by adding random poses.&quot;</span>;</div>
-<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    descriptor.floating_point_range[0].to_value = 1;</div>
-<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;recovery_alpha_slow&quot;</span>, rclcpp::ParameterValue(0.0), descriptor);</div>
-<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div>
-<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
-<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
-<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="stringliteral">&quot;Exponential decay rate for the fast average weight filter, used in deciding when to recover &quot;</span></div>
-<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="stringliteral">&quot;by adding random poses.&quot;</span>;</div>
-<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    descriptor.floating_point_range[0].to_value = 1;</div>
-<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;recovery_alpha_fast&quot;</span>, rclcpp::ParameterValue(0.0), descriptor);</div>
-<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
-<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
-<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  {</div>
-<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="stringliteral">&quot;Maximum particle filter population error between the true distribution &quot;</span></div>
-<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="stringliteral">&quot;and the estimated distribution. It is used in KLD resampling to limit the &quot;</span></div>
-<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="stringliteral">&quot;allowed number of particles to the minimum necessary.&quot;</span>;</div>
-<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    descriptor.floating_point_range[0].to_value = 1;</div>
-<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;pf_err&quot;</span>, rclcpp::ParameterValue(0.05), descriptor);</div>
-<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  }</div>
-<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
-<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  {</div>
-<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="stringliteral">&quot;Upper standard normal quantile for P, where P is the probability &quot;</span></div>
-<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="stringliteral">&quot;that the error in the estimated distribution will be less than pf_err &quot;</span></div>
-<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="stringliteral">&quot;in KLD resampling.&quot;</span>;</div>
-<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;pf_z&quot;</span>, rclcpp::ParameterValue(0.99), descriptor);</div>
-<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  }</div>
-<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
-<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  {</div>
-<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    descriptor.description =</div>
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-<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    descriptor.floating_point_range.resize(1);</div>
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-<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div>
-<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
-<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  {</div>
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-<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="stringliteral">&quot;Resolution in meters for the Y axis used to divide the space in buckets for KLD resampling.&quot;</span>;</div>
-<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
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-<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;spatial_resolution_y&quot;</span>, rclcpp::ParameterValue(0.5), descriptor);</div>
-<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  }</div>
-<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
-<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  {</div>
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-<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="stringliteral">&quot;Resolution in radians for the theta axis to divide the space in buckets for KLD resampling.&quot;</span>;</div>
-<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    descriptor.floating_point_range[0].to_value = 2 * Sophus::Constants&lt;double&gt;::pi();</div>
-<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    node.declare_parameter(</div>
-<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="stringliteral">&quot;spatial_resolution_theta&quot;</span>, rclcpp::ParameterValue(10 * Sophus::Constants&lt;double&gt;::pi() / 180), descriptor);</div>
-<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  }</div>
-<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
-<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  {</div>
-<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Number of filter updates required before resampling. &quot;</span>;</div>
-<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    descriptor.integer_range.resize(1);</div>
-<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    descriptor.integer_range[0].from_value = 1;</div>
-<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    descriptor.integer_range[0].to_value = std::numeric_limits&lt;int&gt;::max();</div>
-<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    descriptor.integer_range[0].step = 1;</div>
-<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;resample_interval&quot;</span>, rclcpp::ParameterValue(1), descriptor);</div>
-<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  }</div>
-<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
-<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  {</div>
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-<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="stringliteral">&quot;When set to true, will reduce the resampling rate when not needed and help &quot;</span></div>
-<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="stringliteral">&quot;avoid particle deprivation. The resampling will only happen if the effective &quot;</span></div>
-<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="stringliteral">&quot;number of particles (N_eff = 1/(sum(k_i^2))) is lower than half the current &quot;</span></div>
-<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="stringliteral">&quot;number of particles.&quot;</span>;</div>
-<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    descriptor.read_only = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;selective_resampling&quot;</span>, <span class="keyword">false</span>, descriptor);</div>
-<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  }</div>
-<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
-<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  {</div>
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-<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="stringliteral">&quot;Set this to false to prevent amcl from publishing the transform &quot;</span></div>
-<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="stringliteral">&quot;between the global frame and the odometry frame.&quot;</span>;</div>
-<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;tf_broadcast&quot;</span>, rclcpp::ParameterValue(<span class="keyword">true</span>), descriptor);</div>
-<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  }</div>
-<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
-<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  {</div>
-<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    descriptor.description =</div>
-<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="stringliteral">&quot;Time with which to post-date the transform that is published, &quot;</span></div>
-<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="stringliteral">&quot;to indicate that this transform is valid into the future&quot;</span>;</div>
-<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    descriptor.floating_point_range[0].to_value = std::numeric_limits&lt;double&gt;::max();</div>
-<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;transform_tolerance&quot;</span>, rclcpp::ParameterValue(1.0), descriptor);</div>
-<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  }</div>
-<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
-<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  {</div>
-<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Which motion model to use [differential_drive, omnidirectional_drive, stationary].&quot;</span>;</div>
-<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;robot_model_type&quot;</span>, rclcpp::ParameterValue(std::string(kDifferentialModelName)), descriptor);</div>
-<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  }</div>
-<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
-<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  {</div>
-<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Rotation noise from rotation for the differential drive model.&quot;</span>;</div>
-<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    descriptor.floating_point_range[0].to_value = std::numeric_limits&lt;double&gt;::max();</div>
-<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;alpha1&quot;</span>, rclcpp::ParameterValue(0.2), descriptor);</div>
-<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  }</div>
-<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
-<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  {</div>
-<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Rotation noise from translation for the differential drive model.&quot;</span>;</div>
-<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    descriptor.floating_point_range[0].to_value = std::numeric_limits&lt;double&gt;::max();</div>
-<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;alpha2&quot;</span>, rclcpp::ParameterValue(0.2), descriptor);</div>
-<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  }</div>
-<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
-<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  {</div>
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-<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Translation noise from translation for the differential drive model.&quot;</span>;</div>
-<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    descriptor.floating_point_range[0].to_value = std::numeric_limits&lt;double&gt;::max();</div>
-<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;alpha3&quot;</span>, rclcpp::ParameterValue(0.2), descriptor);</div>
-<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  }</div>
-<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
-<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  {</div>
-<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Translation noise from rotation for the differential drive model.&quot;</span>;</div>
-<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
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-<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;alpha4&quot;</span>, rclcpp::ParameterValue(0.2), descriptor);</div>
-<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  }</div>
-<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
-<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  {</div>
-<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Strafe noise from translation for the omnidirectional drive model.&quot;</span>;</div>
-<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    descriptor.floating_point_range[0].to_value = std::numeric_limits&lt;double&gt;::max();</div>
-<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;alpha5&quot;</span>, rclcpp::ParameterValue(0.2), descriptor);</div>
-<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  }</div>
-<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
-<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  {</div>
-<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Rotational movement required before performing a filter update.&quot;</span>;</div>
-<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    descriptor.floating_point_range[0].to_value = 2 * Sophus::Constants&lt;double&gt;::pi();</div>
-<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;update_min_a&quot;</span>, rclcpp::ParameterValue(0.2), descriptor);</div>
-<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
-<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
-<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  {</div>
-<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Translational movement required before performing a filter update.&quot;</span>;</div>
-<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    descriptor.floating_point_range[0].to_value = std::numeric_limits&lt;double&gt;::max();</div>
-<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;update_min_d&quot;</span>, rclcpp::ParameterValue(0.25), descriptor);</div>
-<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  }</div>
-<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
-<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  {</div>
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-<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Maximum scan range to be considered.&quot;</span>;</div>
-<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    descriptor.floating_point_range.resize(1);</div>
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-<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    descriptor.floating_point_range[0].to_value = std::numeric_limits&lt;double&gt;::max();</div>
-<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;laser_max_range&quot;</span>, rclcpp::ParameterValue(100.0), descriptor);</div>
-<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  }</div>
-<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
-<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  {</div>
-<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Minimum scan range to be considered.&quot;</span>;</div>
-<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    descriptor.floating_point_range.resize(1);</div>
-<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    descriptor.floating_point_range[0].from_value = 0;</div>
-<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    descriptor.floating_point_range[0].to_value = std::numeric_limits&lt;double&gt;::max();</div>
-<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    descriptor.floating_point_range[0].step = 0;</div>
-<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;laser_min_range&quot;</span>, rclcpp::ParameterValue(0.0), descriptor);</div>
-<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  }</div>
-<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
-<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  {</div>
-<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    descriptor.description = <span class="stringliteral">&quot;How many evenly-spaced beams in each scan will be used when updating the filter.&quot;</span>;</div>
-<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    descriptor.integer_range.resize(1);</div>
-<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    descriptor.integer_range[0].from_value = 2;</div>
-<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    descriptor.integer_range[0].to_value = std::numeric_limits&lt;int&gt;::max();</div>
-<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    descriptor.integer_range[0].step = 1;</div>
-<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;max_beams&quot;</span>, rclcpp::ParameterValue(60), descriptor);</div>
-<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  }</div>
-<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
-<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  {</div>
-<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Set the initial pose from the initial_pose parameters.&quot;</span>;</div>
-<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;set_initial_pose&quot;</span>, <span class="keyword">false</span>, descriptor);</div>
-<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div>
-<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
-<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  {</div>
-<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Initial pose x axis coordinate.&quot;</span>;</div>
-<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;initial_pose.x&quot;</span>, 0.0, descriptor);</div>
-<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  }</div>
-<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
-<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  {</div>
-<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Initial pose y axis coordinate.&quot;</span>;</div>
-<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;initial_pose.y&quot;</span>, 0.0, descriptor);</div>
-<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  }</div>
-<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
-<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  {</div>
-<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Initial pose yaw rotation.&quot;</span>;</div>
-<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;initial_pose.yaw&quot;</span>, 0.0, descriptor);</div>
-<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  }</div>
-<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
-<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  {</div>
-<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Initial pose x axis covariance.&quot;</span>;</div>
-<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;initial_pose.covariance_x&quot;</span>, 0.0, descriptor);</div>
-<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  }</div>
-<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
-<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  {</div>
-<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="keyword">auto</span> descriptor = rcl_interfaces::msg::ParameterDescriptor();</div>
-<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Initial pose y axis covariance.&quot;</span>;</div>
-<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;initial_pose.covariance_y&quot;</span>, 0.0, descriptor);</div>
-<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  }</div>
-<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
-<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  {</div>
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-<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Initial pose yaw covariance.&quot;</span>;</div>
-<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    node.declare_parameter(<span class="stringliteral">&quot;initial_pose.covariance_yaw&quot;</span>, 0.0, descriptor);</div>
-<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  }</div>
-<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
-<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  {</div>
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-<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Initial pose xy covariance.&quot;</span>;</div>
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-<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    descriptor.description = <span class="stringliteral">&quot;Initial pose xyaw covariance.&quot;</span>;</div>
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-<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  {</div>
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-<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  {</div>
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+<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#aaad2145c3861651dd0bfca4b4fe91e73">   97</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#aaad2145c3861651dd0bfca4b4fe91e73">do_cleanup</a>([[maybe_unused]] <span class="keyword">const</span> rclcpp_lifecycle::State&amp; state) {}</div>
+<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">   99</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">do_activate</a>([[maybe_unused]] <span class="keyword">const</span> rclcpp_lifecycle::State&amp; state) {}</div>
+<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38a95d3c2fa48fc5ef260dfea601742e">  101</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38a95d3c2fa48fc5ef260dfea601742e">do_periodic_timer_callback</a>() {}</div>
+<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">  103</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">do_initial_pose_callback</a>(</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      [[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message) {}</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">  107</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">initial_pose_callback</a>(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message);</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7ba7d07827d5279a98bc572fc08df437">  110</a></span>&#160;  rclcpp_lifecycle::LifecyclePublisher&lt;geometry_msgs::msg::PoseArray&gt;::SharedPtr <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7ba7d07827d5279a98bc572fc08df437">particle_cloud_pub_</a>;</div>
+<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3ce5b37032443c1651bcada26f77224f">  112</a></span>&#160;  rclcpp_lifecycle::LifecyclePublisher&lt;visualization_msgs::msg::MarkerArray&gt;::SharedPtr <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3ce5b37032443c1651bcada26f77224f">particle_markers_pub_</a>;</div>
+<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac95ec7145c7d97c802f2c7786c40fbf8">  114</a></span>&#160;  rclcpp_lifecycle::LifecyclePublisher&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;::SharedPtr <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac95ec7145c7d97c802f2c7786c40fbf8">pose_pub_</a>;</div>
+<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a132faa2c69def19aa24a6bc3685506f3">  116</a></span>&#160;  std::unique_ptr&lt;bond::Bond&gt; <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a132faa2c69def19aa24a6bc3685506f3">bond_</a>;</div>
+<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7dd93a451948e793576070e5bc27e71d">  118</a></span>&#160;  rclcpp::TimerBase::SharedPtr <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a7dd93a451948e793576070e5bc27e71d">timer_</a>;</div>
+<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab00f2e2ab057b887af4135899b9087e5">  120</a></span>&#160;  std::unique_ptr&lt;tf2_ros::Buffer&gt; <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#ab00f2e2ab057b887af4135899b9087e5">tf_buffer_</a>;</div>
+<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#aa6ec10aa1a68ab40fa29d3eca640fa02">  122</a></span>&#160;  std::unique_ptr&lt;tf2_ros::TransformBroadcaster&gt; <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#aa6ec10aa1a68ab40fa29d3eca640fa02">tf_broadcaster_</a>;</div>
+<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38590b0e5b2b1e331ecb539f04d1b76d">  124</a></span>&#160;  std::unique_ptr&lt;tf2_ros::TransformListener&gt; <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a38590b0e5b2b1e331ecb539f04d1b76d">tf_listener_</a>;</div>
+<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac3cff77d78f464934b2b32e7c2045a48">  126</a></span>&#160;  rclcpp::TimerBase::SharedPtr <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac3cff77d78f464934b2b32e7c2045a48">autostart_timer_</a>;</div>
+<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#abfe28d871258a991c2b228134ffce060">  128</a></span>&#160;  rclcpp::CallbackGroup::SharedPtr <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#abfe28d871258a991c2b228134ffce060">common_callback_group_</a>;</div>
+<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3be1c4638e6383411b140d59869f7c05">  130</a></span>&#160;  rclcpp::SubscriptionOptions <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#a3be1c4638e6383411b140d59869f7c05">common_subscription_options_</a>;</div>
+<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac21e0a5574bd3a743cc7be191f5f4c50">  132</a></span>&#160;  rclcpp::Subscription&lt;geometry_msgs::msg::PoseWithCovarianceStamped&gt;::SharedPtr <a class="code" href="classbeluga__amcl_1_1BaseAMCLNode.html#ac21e0a5574bd3a743cc7be191f5f4c50">initial_pose_sub_</a>;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;};</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;}  <span class="comment">// namespace beluga_amcl</span></div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:52</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a092106befa33dc59582ee5d5c5576092"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a092106befa33dc59582ee5d5c5576092">beluga_amcl::BaseAMCLNode::autostart_callback</a></div><div class="ttdeci">void autostart_callback()</div><div class="ttdoc">Callback for the autostart timer.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a0a4dc9c29b50af8b6ae2d38c3ed0dedf"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a0a4dc9c29b50af8b6ae2d38c3ed0dedf">beluga_amcl::BaseAMCLNode::do_activate</a></div><div class="ttdeci">virtual void do_activate([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</div><div class="ttdoc">Extra steps for the on_activate callback. Defaults to no-op.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:99</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a132faa2c69def19aa24a6bc3685506f3"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a132faa2c69def19aa24a6bc3685506f3">beluga_amcl::BaseAMCLNode::bond_</a></div><div class="ttdeci">std::unique_ptr&lt; bond::Bond &gt; bond_</div><div class="ttdoc">Node bond with the lifecycle manager.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:116</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a146afa75ee718c1aa089559ffa4a91e0"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a146afa75ee718c1aa089559ffa4a91e0">beluga_amcl::BaseAMCLNode::do_configure</a></div><div class="ttdeci">virtual void do_configure([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</div><div class="ttdoc">Extra steps for the on_configure callback. Defaults to no-op.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:91</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a16cdce2884adb55d59ee585aa819bb5f"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a16cdce2884adb55d59ee585aa819bb5f">beluga_amcl::BaseAMCLNode::on_configure</a></div><div class="ttdeci">CallbackReturn on_configure(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the UNCONFIGURED state to the INACTIVE state.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a2ae607902c8050454330ff45785c7247"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a2ae607902c8050454330ff45785c7247">beluga_amcl::BaseAMCLNode::do_shutdown</a></div><div class="ttdeci">virtual void do_shutdown([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</div><div class="ttdoc">Extra steps for the on_shutdown callback. Defaults to no-op.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:95</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a343f92f8ce9b16c388bc6b367372baa9"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a343f92f8ce9b16c388bc6b367372baa9">beluga_amcl::BaseAMCLNode::do_deactivate</a></div><div class="ttdeci">virtual void do_deactivate([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</div><div class="ttdoc">Extra steps for the on_deactivate callback. Defaults to no-op.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:93</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a38590b0e5b2b1e331ecb539f04d1b76d"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a38590b0e5b2b1e331ecb539f04d1b76d">beluga_amcl::BaseAMCLNode::tf_listener_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::TransformListener &gt; tf_listener_</div><div class="ttdoc">Transforms listener.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:124</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a38a95d3c2fa48fc5ef260dfea601742e"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a38a95d3c2fa48fc5ef260dfea601742e">beluga_amcl::BaseAMCLNode::do_periodic_timer_callback</a></div><div class="ttdeci">virtual void do_periodic_timer_callback()</div><div class="ttdoc">Extra steps for the periodic updates timer callback events. Defaults to no-op.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:101</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a3be1c4638e6383411b140d59869f7c05"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a3be1c4638e6383411b140d59869f7c05">beluga_amcl::BaseAMCLNode::common_subscription_options_</a></div><div class="ttdeci">rclcpp::SubscriptionOptions common_subscription_options_</div><div class="ttdoc">Common subscription options.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:130</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a3ce5b37032443c1651bcada26f77224f"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a3ce5b37032443c1651bcada26f77224f">beluga_amcl::BaseAMCLNode::particle_markers_pub_</a></div><div class="ttdeci">rclcpp_lifecycle::LifecyclePublisher&lt; visualization_msgs::msg::MarkerArray &gt;::SharedPtr particle_markers_pub_</div><div class="ttdoc">Particle markers publisher.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:112</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a48dad9a24ae400e73026646e5753789a"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a48dad9a24ae400e73026646e5753789a">beluga_amcl::BaseAMCLNode::on_activate</a></div><div class="ttdeci">CallbackReturn on_activate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the INACTIVE state to the ACTIVE state.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a4947ff1f6d3ea8369f1a2c392460896c"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a4947ff1f6d3ea8369f1a2c392460896c">beluga_amcl::BaseAMCLNode::on_cleanup</a></div><div class="ttdeci">CallbackReturn on_cleanup(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the INACTIVE state to the UNCONFIGURED state.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a6943f1f5e17278589a83fe71165609a2"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a6943f1f5e17278589a83fe71165609a2">beluga_amcl::BaseAMCLNode::on_shutdown</a></div><div class="ttdeci">CallbackReturn on_shutdown(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from most states to the FINALIZED state.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a788aa4698cfc1e1dd683b11e22cf5045"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a788aa4698cfc1e1dd683b11e22cf5045">beluga_amcl::BaseAMCLNode::do_initial_pose_callback</a></div><div class="ttdeci">virtual void do_initial_pose_callback([[maybe_unused]] geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</div><div class="ttdoc">Extra steps for (re)initialization messages.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:103</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a7ba7d07827d5279a98bc572fc08df437"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a7ba7d07827d5279a98bc572fc08df437">beluga_amcl::BaseAMCLNode::particle_cloud_pub_</a></div><div class="ttdeci">rclcpp_lifecycle::LifecyclePublisher&lt; geometry_msgs::msg::PoseArray &gt;::SharedPtr particle_cloud_pub_</div><div class="ttdoc">Particle cloud publisher.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:110</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a7dd93a451948e793576070e5bc27e71d"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a7dd93a451948e793576070e5bc27e71d">beluga_amcl::BaseAMCLNode::timer_</a></div><div class="ttdeci">rclcpp::TimerBase::SharedPtr timer_</div><div class="ttdoc">Timer for periodic particle cloud updates.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:118</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_a9d5a3eec8c33e48097483a8c85d8d933"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#a9d5a3eec8c33e48097483a8c85d8d933">beluga_amcl::BaseAMCLNode::on_deactivate</a></div><div class="ttdeci">CallbackReturn on_deactivate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the ACTIVE state to the INACTIVE state.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_aa6ec10aa1a68ab40fa29d3eca640fa02"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#aa6ec10aa1a68ab40fa29d3eca640fa02">beluga_amcl::BaseAMCLNode::tf_broadcaster_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::TransformBroadcaster &gt; tf_broadcaster_</div><div class="ttdoc">Transforms broadcaster.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:122</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_aaad2145c3861651dd0bfca4b4fe91e73"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#aaad2145c3861651dd0bfca4b4fe91e73">beluga_amcl::BaseAMCLNode::do_cleanup</a></div><div class="ttdeci">virtual void do_cleanup([[maybe_unused]] const rclcpp_lifecycle::State &amp;state)</div><div class="ttdoc">Extra steps for the on_cleanup callback. Defaults to no-op.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:97</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_ab00f2e2ab057b887af4135899b9087e5"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#ab00f2e2ab057b887af4135899b9087e5">beluga_amcl::BaseAMCLNode::tf_buffer_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::Buffer &gt; tf_buffer_</div><div class="ttdoc">Transforms buffer.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:120</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_ab3a56093a25e45eaea077fa854bbaea7"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#ab3a56093a25e45eaea077fa854bbaea7">beluga_amcl::BaseAMCLNode::initial_pose_callback</a></div><div class="ttdeci">void initial_pose_callback(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message)</div><div class="ttdoc">Callback for (re)initialization messages.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_abb92b76171374e8f42c2a4d24b330ddb"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#abb92b76171374e8f42c2a4d24b330ddb">beluga_amcl::BaseAMCLNode::~BaseAMCLNode</a></div><div class="ttdeci">~BaseAMCLNode() override</div><div class="ttdoc">Destructor for the base AMCL node.</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_abfe28d871258a991c2b228134ffce060"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#abfe28d871258a991c2b228134ffce060">beluga_amcl::BaseAMCLNode::common_callback_group_</a></div><div class="ttdeci">rclcpp::CallbackGroup::SharedPtr common_callback_group_</div><div class="ttdoc">Common mutually exclusive callback group.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:128</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_ac21e0a5574bd3a743cc7be191f5f4c50"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#ac21e0a5574bd3a743cc7be191f5f4c50">beluga_amcl::BaseAMCLNode::initial_pose_sub_</a></div><div class="ttdeci">rclcpp::Subscription&lt; geometry_msgs::msg::PoseWithCovarianceStamped &gt;::SharedPtr initial_pose_sub_</div><div class="ttdoc">Pose (re)initialization subscription.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:132</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_ac3cff77d78f464934b2b32e7c2045a48"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#ac3cff77d78f464934b2b32e7c2045a48">beluga_amcl::BaseAMCLNode::autostart_timer_</a></div><div class="ttdeci">rclcpp::TimerBase::SharedPtr autostart_timer_</div><div class="ttdoc">Timer for node to configure and activate itself.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:126</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html_ac95ec7145c7d97c802f2c7786c40fbf8"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html#ac95ec7145c7d97c802f2c7786c40fbf8">beluga_amcl::BaseAMCLNode::pose_pub_</a></div><div class="ttdeci">rclcpp_lifecycle::LifecyclePublisher&lt; geometry_msgs::msg::PoseWithCovarianceStamped &gt;::SharedPtr pose_pub_</div><div class="ttdoc">Estimated pose publisher.</div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:114</div></div>
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diff --git a/tutorials/nav2-integration.html b/tutorials/nav2-integration.html
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--- a/tutorials/nav2-integration.html
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@@ -56,7 +56,7 @@
     <link rel="prev" title="Primer on Particle Filtering with Beluga" href="particle-filtering.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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diff --git a/tutorials/particle-filtering.html b/tutorials/particle-filtering.html
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--- a/tutorials/particle-filtering.html
+++ b/tutorials/particle-filtering.html
@@ -58,7 +58,7 @@
     <link rel="prev" title="Benchmarking Beluga" href="../guides/benchmarking-beluga.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
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-    <meta name="docbuild:last-update" content="&#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;"/>
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@@ -900,7 +900,7 @@ <h2>2 Compile and run<a class="headerlink" href="#compile-and-run" title="Link t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Aug 6 10:57:58 2024 -0300, a4242ae&#39;.
+  Last updated on &#39;Wed Aug 7 14:59:04 2024 -0300, a60c5a1&#39;.
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 </p>
   </div>