Public Member Functions | Protected Member Functions | List of all members
chrono::ros::ChROSBodyHandler Class Reference
ROS module » ROS Handlers

Description

Publishes the state of a ChBody on three topics derived from a base topic: <topic>/pose geometry_msgs/msg/PoseStamped (position + orientation) <topic>/twist geometry_msgs/msg/TwistStamped (linear + angular velocity) <topic>/accel geometry_msgs/msg/AccelStamped (linear + angular accel.) With the default base topic "~/" these resolve to ~/pose, ~/twist, ~/accel.

#include <ChROSBodyHandler.h>

Inherits chrono::ros::ChROSHandler.

Public Member Functions

 ChROSBodyHandler (double update_rate, std::shared_ptr< ChBody > body, const std::string &topic="~/")
 
virtual bool Initialize (ChROSBridge &bridge) override
 Creates the pose, twist, and accel publishers.
 

Protected Member Functions

virtual void Tick (double time) override
 Publishes pose, twist, and accel for the current state.
 

Constructor & Destructor Documentation

◆ ChROSBodyHandler()

chrono::ros::ChROSBodyHandler::ChROSBodyHandler ( double  update_rate,
std::shared_ptr< ChBody >  body,
const std::string &  topic = "~/" 
)
Parameters
update_ratepublish rate (Hz, sim time); 0 = every step.
bodythe body whose state is published.
topicbase topic; "/pose", "/twist", "/accel" are appended.
The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_ros/handlers/ChROSBodyHandler.h
  • /builds/uwsbel/chrono/src/chrono_ros/handlers/ChROSBodyHandler.cpp