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. More...

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. More...

Protected Member Functions inherited from chrono::ros::ChROSHandler
	ChROSHandler (double update_rate)
	Constructor for the ChROSHandler. More...

Member Function Documentation

void chrono::ros::ChROSLidarHandler::Tick ( double time )

overrideprotectedvirtual

Derived class must implement this function.

Parameters

time	the current simulation time

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