Description
Publishes crane actuator displacement (length and rate) to ROS.
The handler is intentionally decoupled from any specific crane class so that it can wrap any mechanism that provides an actuator-length query. The user supplies a callback that returns (s, sd) at the current simulation state.
Data flow: Callback → GetSerializedData() → IPC → Subprocess → ROS topic
Required companion files:
- ChROSHydraulicCraneHandler_ipc.h (shared IPC struct)
- ChROSCraneStateHandler_ros.cpp (subprocess publisher)
#include <ChROSCraneStateHandler.h>
Public Types | |
| using | StateCallback = std::function< std::pair< double, double >()> |
| Callback signature: returns (actuator_length, actuator_length_rate). | |
 Public Types inherited from chrono::ros::ChROSHandler | |
| typedef chrono::ros::ipc::MessageType | MessageType |
| Get the message type of this handler. More... | |
Public Member Functions | |
| ChROSCraneStateHandler (double update_rate, StateCallback callback, const std::string &topic_name="~/crane/state") | |
| Construct a crane state publisher. More... | |
| virtual bool | Initialize (std::shared_ptr< ChROSInterface > interface) override |
| Initializes the handler. More... | |
| virtual ipc::MessageType | GetMessageType () const override |
| virtual std::vector< uint8_t > | GetSerializedData (double time) override |
| Get serialized data from this handler for IPC transmission. More... | |
| Public Member Functions inherited from chrono::ros::ChROSHandler | |
| virtual | ~ChROSHandler ()=default |
| Destructor for the ChROSHandler. | |
| 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. | |
| virtual bool | IsPublisher () const |
| Check if this handler is a publisher (data flows from Chrono to ROS) Default is true. More... | |
| virtual void | PublishFromSerialized (const std::vector< uint8_t > &data, std::shared_ptr< ChROSInterface > interface) |
| Publish data to ROS from serialized bytes. More... | |
| virtual void | ApplyFromSerialized (const std::vector< uint8_t > &data) |
| Apply data to Chrono from serialized bytes. More... | |
| virtual void | SubscribeAndForward (std::shared_ptr< ChROSInterface > interface, std::function< void(const std::vector< uint8_t > &)> callback) |
| Setup subscriber in subprocess to send data back to main process. More... | |
| virtual void | HandleIncomingMessage (const ipc::Message &msg) |
| Handle incoming IPC message from ROS subscriber (bidirectional communication). More... | |
| virtual bool | SupportsIncomingMessages () const |
| Returns true if this handler processes incoming IPC messages. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from chrono::ros::ChROSHandler | |
| ChROSHandler (double update_rate) | |
| Constructor for the ChROSHandler 'update_rate' is the rate with which the handler should tick relative to the simulation clock. More... | |
| void | IncrementTickCount () |
| Increment the tick count. | |
Constructor & Destructor Documentation
◆ ChROSCraneStateHandler()
| chrono::ros::ChROSCraneStateHandler::ChROSCraneStateHandler | ( | double | update_rate, |
| StateCallback | callback, | ||
| const std::string & | topic_name = "~/crane/state" |
||
| ) |
Construct a crane state publisher.
- Parameters
-
update_rate Publishing rate in Hz (0 = every tick) callback Lambda or function that queries the crane for (s, sd) topic_name ROS topic on which to publish the state
Member Function Documentation
◆ GetSerializedData()
|
overridevirtual |
Get serialized data from this handler for IPC transmission.
Framework calls this in main process for publishers. Handler should extract Chrono data and return as byte vector. Default implementation calls Tick() for backward compatibility. Returns serialized data as byte vector (empty if not supported).
Reimplemented from chrono::ros::ChROSHandler.
◆ Initialize()
|
overridevirtual |
Initializes the handler.
Must be implemented by derived classes. This is called after rclcpp::init(). In IPC mode, this is only called in the subprocess. In direct mode, called in main process. Here the underlying ROS objects (e.g. publisher, subscription) should be created.
Implements chrono::ros::ChROSHandler.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_ros/handlers/mbs/ChROSCraneStateHandler.h
- /builds/uwsbel/chrono/src/chrono_ros/handlers/mbs/ChROSCraneStateHandler.cpp
