chrono::ros::ChROSBodyHandler Class Reference
Description
Publishes pose, twist, and acceleration information for a ChBody.
Creates three publishers: [topic]/pose, [topic]/twist, [topic]/accel
#include <ChROSBodyHandler.h>
Inheritance diagram for chrono::ros::ChROSBodyHandler:
Collaboration diagram for chrono::ros::ChROSBodyHandler:
Public Member Functions | |
| ChROSBodyHandler (double update_rate, std::shared_ptr< ChBody > body, const std::string &topic="~/") | |
| virtual bool | Initialize (std::shared_ptr< ChROSInterface > interface) override |
| Initializes the handler. More... | |
| virtual ipc::MessageType | GetMessageType () const override |
| Get the message type of this handler. | |
| virtual std::vector< uint8_t > | GetSerializedData (double time) override |
| Extract body state for IPC (called in main process, no ROS calls) | |
| virtual void | PublishFromSerialized (const std::vector< uint8_t > &data, std::shared_ptr< ChROSInterface > interface) override |
| Publish data to ROS from serialized bytes (called in subprocess) | |
 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 | 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 | |
| Public Types inherited from chrono::ros::ChROSHandler | |
| typedef chrono::ros::ipc::MessageType | MessageType |
| Get the message type of this handler. More... | |
| 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. | |
Member Function Documentation
◆ 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/ChROSBodyHandler.h
- /builds/uwsbel/chrono/src/chrono_ros/handlers/ChROSBodyHandler.cpp
