chrono::ros::ChROSHandler Class Reference

Description

Base class for a ROS handler.

A specific handler should inherit from here. A handler is essentially a wrapper around a ROS subscriber/publisher/service/action. Logic regarding message generation/parsing and sending/receiving is implemented here. A derived class is implemented to define logic specific to a desired output.

#include <ChROSHandler.h>

Inheritance diagram for chrono::ros::ChROSHandler:

Public Member Functions
virtual	~ChROSHandler ()=default
	Destructor for the ChROSHandler.
virtual bool	Initialize (std::shared_ptr< ChROSInterface > interface)=0
	Initializes the handler. More...
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
	ChROSHandler (double update_rate)
	Constructor for the ChROSHandler. More...
virtual void	Tick (double time)=0
	Derived class must implement this function. More...

Constructor & Destructor Documentation

ChROSHandler()

chrono::ros::ChROSHandler::ChROSHandler ( double  update_rate )

explicitprotected

Constructor for the ChROSHandler.

Parameters

update_rate

Update rate with which the handler should tick relative to the simulation clock. NOTE: A update_rate of 0 indicates tick should be called on each update of the simulation.

Member Function Documentation

Initialize()

virtual bool chrono::ros::ChROSHandler::Initialize ( std::shared_ptr< ChROSInterface >  interface )

pure virtual

Initializes the handler.

Must be implemented by derived classes. This is called after rclcpp::init(). Here the underlying ROS objects (e.g. publisher, subscription) should be created.

Parameters

interface

The interface to the ROS node

Implemented in chrono::ros::ChROSTFHandler, chrono::ros::ChROSRobotModelHandler, chrono::ros::ChROSBodyHandler, chrono::ros::ChROSAccelerometerHandler, chrono::ros::ChROSGyroscopeHandler, chrono::ros::ChROSMagnetometerHandler, chrono::ros::ChROSDriverInputsHandler, chrono::ros::ChROSLidarHandler, chrono::ros::ChROSGPSHandler, chrono::ros::ChROSViperDCMotorControlHandler, chrono::ros::ChROSCameraHandler, and chrono::ros::ChROSClockHandler.

Tick()

virtual void chrono::ros::ChROSHandler::Tick ( double  time )

protectedpure virtual

Derived class must implement this function.

Parameters

time	the current simulation time

Implemented in chrono::ros::ChROSTFHandler, chrono::ros::ChROSRobotModelHandler, chrono::ros::ChROSBodyHandler, chrono::ros::ChROSDriverInputsHandler, chrono::ros::ChROSAccelerometerHandler, chrono::ros::ChROSGyroscopeHandler, chrono::ros::ChROSMagnetometerHandler, chrono::ros::ChROSLidarHandler, chrono::ros::ChROSGPSHandler, chrono::ros::ChROSViperDCMotorControlHandler, chrono::ros::ChROSCameraHandler, and chrono::ros::ChROSClockHandler.

Update()

void chrono::ros::ChROSHandler::Update ( double  time, double  step  )

finalvirtual

Updates the internal clock and checks if a tick should occur.

If yes, Tick() is called.

Parameters

time	the current simulation time
step	the step size used since the last Update call

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

• /builds/uwsbel/chrono/src/chrono_ros/ChROSHandler.h
• /builds/uwsbel/chrono/src/chrono_ros/ChROSHandler.cpp