chrono::ros::ChROSLidarHandler Class Reference
Description
This handler interfaces a ChLidarSensor to ROS.
#include <ChROSLidarHandler.h>
Inheritance diagram for chrono::ros::ChROSLidarHandler:

Collaboration diagram for chrono::ros::ChROSLidarHandler:

Public Member Functions | |
| ChROSLidarHandler (std::shared_ptr< chrono::sensor::ChLidarSensor > lidar, const std::string &topic_name, ChROSLidarHandlerMessageType msg_type=ChROSLidarHandlerMessageType::POINT_CLOUD2) | |
| Constructor. The update rate is set to lidar->GetUpdateRate(). | |
| ChROSLidarHandler (double update_rate, std::shared_ptr< chrono::sensor::ChLidarSensor > lidar, const std::string &topic_name, ChROSLidarHandlerMessageType msg_type=ChROSLidarHandlerMessageType::POINT_CLOUD2) | |
| Full constructor. Takes a ChLidarSensor, update rate, and topic name. | |
| virtual bool | Initialize (std::shared_ptr< ChROSInterface > interface) override |
| Initializes the handler. | |
Public Member Functions inherited from chrono::ros::ChROSHandler | |
| virtual | ~ChROSHandler ()=default |
| Destructor for the ChROSHandler. | |
| virtual void | Update (double time, double step) final |
| Updates the internal clock and checks if a tick should occur. | |
| const double | GetUpdateRate () const |
| Get the period which this handler operates at. | |
| const uint64_t | GetTickCount () const |
| Get the number of times Tick() has been called. | |
Protected Member Functions | |
| virtual void | Tick (double time) override |
| Derived class must implement this function. | |
Protected Member Functions inherited from chrono::ros::ChROSHandler | |
| ChROSHandler (double update_rate) | |
| Constructor for the ChROSHandler. | |
Member Function Documentation
◆ Initialize()
|
overridevirtual |
Initializes the handler.
Implements chrono::ros::ChROSHandler.
◆ Tick()
|
overrideprotectedvirtual |
Derived class must implement this function.
- Parameters
-
time the current simulation time
Implements chrono::ros::ChROSHandler.
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono_ros/handlers/sensor/ChROSLidarHandler.h
- C:/M/B/src/chrono-9.0.1/src/chrono_ros/handlers/sensor/ChROSLidarHandler.cpp
Public Member Functions inherited from