Description

Handler for interfacing a ChDriver to ROS via bidirectional IPC communication.

BIDIRECTIONAL SUBSCRIBER PATTERN:

Main process: Calls GetSerializedData() once to send topic name → subprocess creates subscriber
Subprocess: ROS message arrives → packs IPC data → sends back to main process
Main process: Receives IPC → calls HandleIncomingMessage() → applies data to Chrono object

Data flow: External ROS → Subprocess subscriber → IPC channel → Main process → ChDriver

Implementation files:

ChROSDriverInputsHandler.cpp: Main process logic (ApplyInputs, HandleIncomingMessage)
ChROSDriverInputsHandler_ros.cpp: Subprocess ROS subscriber (compiled into chrono_ros_node)

To implement a similar bidirectional subscriber:

Define IPC struct in handler header under namespace ipc (plain C++ types)
Override SupportsIncomingMessages() to return true
Override HandleIncomingMessage() to extract IPC data and apply to Chrono object
Implement GetSerializedData() to send topic name once (empty afterwards)
Create YourHandler_ros.cpp with subscriber callback that sends IPC back
Register with CHRONO_ROS_REGISTER_HANDLER(YOUR_MESSAGE_TYPE, YourSetupFunction)
Add YOUR_MESSAGE_TYPE to MessageType enum in ChROSIPCMessage.h
Add handler recognition to ChROSManager::GetHandlerMessageType()

#include <ChROSDriverInputsHandler.h>

Inheritance diagram for chrono::ros::ChROSDriverInputsHandler:

[legend]

Collaboration diagram for chrono::ros::ChROSDriverInputsHandler:

[legend]

Public Member Functions
	ChROSDriverInputsHandler (std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Constructor with default update rate. More...

	ChROSDriverInputsHandler (double update_rate, std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Constructor with custom update rate. More...

virtual bool	Initialize (std::shared_ptr< ChROSInterface > interface) override
	Initialize handler (called once at startup in main process) In IPC mode, this does nothing. More...

virtual ipc::MessageType	GetMessageType () const override
	Get the message type of this handler.

void	ApplyInputs (double steering, double throttle, double braking)
	Apply driver inputs received from subprocess via IPC This method is called internally by HandleIncomingMessage() More...

virtual void	HandleIncomingMessage (const ipc::Message &msg) override
	Handle incoming IPC message from subprocess ROS subscriber Called by ChROSManager when IPC message of type DRIVER_INPUTS arrives. More...

virtual bool	SupportsIncomingMessages () const override
	Indicates this handler receives messages from subprocess. 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...

Protected Member Functions
virtual std::vector< uint8_t >	GetSerializedData (double time) override
	Send topic name to subprocess once to trigger subscriber creation First call: Returns topic name as bytes for subprocess setup Subsequent calls: Returns empty vector (no data to publish) More...

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

void	IncrementTickCount ()
	Increment the tick count.

Additional Inherited Members
Public Types inherited from chrono::ros::ChROSHandler
typedef chrono::ros::ipc::MessageType	MessageType
	Get the message type of this handler. More...

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

/builds/uwsbel/chrono/src/chrono_ros/handlers/vehicle/ChROSDriverInputsHandler.h
/builds/uwsbel/chrono/src/chrono_ros/handlers/vehicle/ChROSDriverInputsHandler.cpp

Description

Public Member Functions

Protected Member Functions

Additional Inherited Members