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

Description

Publishes a robot model (a URDF string) on /robot_description as std_msgs/msg/String with latched (transient-local) QoS, so late-joining consumers such as RViz still receive it.

The model is static, so it is published once and the latched QoS handles late subscribers. A second convenience ctor takes a ChParserURDF and resolves mesh URIs (below).

#include <ChROSRobotModelHandler.h>

Inherits chrono::ros::ChROSHandler.

Public Member Functions

 ChROSRobotModelHandler (const std::string &robot_model, const std::string &topic_name="/robot_description")
 
virtual bool Initialize (ChROSBridge &bridge) override
 Creates the latched /robot_description publisher.
 

Protected Member Functions

virtual void Tick (double time) override
 Publishes the model string once (latched QoS serves later subscribers).
 

Constructor & Destructor Documentation

◆ ChROSRobotModelHandler()

chrono::ros::ChROSRobotModelHandler::ChROSRobotModelHandler ( const std::string &  robot_model,
const std::string &  topic_name = "/robot_description" 
)
Parameters
robot_modelthe robot description (URDF) string to publish.
topic_namedefaults to "/robot_description".
The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_ros/handlers/robot/ChROSRobotModelHandler.h
  • /builds/uwsbel/chrono/src/chrono_ros/handlers/robot/ChROSRobotModelHandler.cpp