Description

IPC-based interface that runs ROS in a separate process to avoid symbol conflicts.

#include <ChROSIPCInterface.h>

Inheritance diagram for chrono::ros::ChROSIPCInterface:

Collaboration diagram for chrono::ros::ChROSIPCInterface:

Public Member Functions
	ChROSIPCInterface (const std::string &node_name)
	Constructor. More...

	~ChROSIPCInterface ()
	Destructor - ensures subprocess cleanup.

void	Initialize (rclcpp::NodeOptions options=rclcpp::NodeOptions()) override
	Initialize the subprocess-based ROS interface.

void	SpinSome (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0)) override
	Process IPC messages (replaces SpinSome functionality)

rclcpp::Node::SharedPtr	GetNode () override
	Override GetNode to return nullptr (no node in main process)

bool	SendHandlerData (ipc::MessageType message_type, const void *data, size_t size)
	Send handler data to the subprocess for publishing. More...

bool	ReceiveMessage (ipc::Message &message)
	Receive message from subprocess (bidirectional communication) More...

Public Member Functions inherited from chrono::ros::ChROSInterface
	ChROSInterface (const std::string node_name)
	Constructor for the ChROSInterface class. More...

virtual	~ChROSInterface ()=default
	Virtual destructor for polymorphism.

const std::string &	GetNodeName () const
	Get the node name (for IPC interface access)

Constructor & Destructor Documentation

chrono::ros::ChROSIPCInterface::ChROSIPCInterface ( const std::string & node_name )

Constructor.

Parameters

node_name Name for the ROS node in the subprocess

bool chrono::ros::ChROSIPCInterface::ReceiveMessage ( ipc::Message & message )

Receive message from subprocess (bidirectional communication)

Parameters

message Message buffer to fill

bool chrono::ros::ChROSIPCInterface::SendHandlerData	(	ipc::MessageType	message_type,
		const void *	data,
		size_t	size
	)

Send handler data to the subprocess for publishing.

Parameters

The documentation for this class was generated from the following files: