chrono::ros::ChROSInterface Class Reference

Description

This class handles the API interface between Chrono and ROS.

It contains a rclcpp::Node which is accessible through GetNode(). Multiple ChROSInterfaces can be created to support multiple nodes.

#include <ChROSInterface.h>

Inheritance diagram for chrono::ros::ChROSInterface:

Public Member Functions
	ChROSInterface (const std::string node_name)
	Constructor for the ChROSInterface class. More...
virtual	~ChROSInterface ()=default
	Virtual destructor for polymorphism.
virtual void	Initialize (rclcpp::NodeOptions options=rclcpp::NodeOptions())
	Initialize the underlying ROS 2 node. More...
virtual void	SpinSome (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0))
	Tick once. More...
virtual rclcpp::Node::SharedPtr	GetNode ()
	Retrieve the ROS node. More...
const std::string &	GetNodeName () const
	Get the node name (for IPC interface access)

Constructor & Destructor Documentation

ChROSInterface()

chrono::ros::ChROSInterface::ChROSInterface

(

const std::string

node_name

)

Constructor for the ChROSInterface class.

Parameters

node_name

the name to set to the created node. ROS will throw an error if the node name is identical to previously created nodes.

Member Function Documentation

GetNode()

virtual rclcpp::Node::SharedPtr chrono::ros::ChROSInterface::GetNode ( )

inlinevirtual

Retrieve the ROS node.

Use this API to create a publisher or subscriber or any other ROS component.

Reimplemented in chrono::ros::ChROSIPCInterface.

Initialize()

void chrono::ros::ChROSInterface::Initialize ( rclcpp::NodeOptions  options = rclcpp::NodeOptions() )

virtual

Initialize the underlying ROS 2 node.

A SingleThreadedExecutor will be created and the node will be added to it.

Reimplemented in chrono::ros::ChROSIPCInterface.

SpinSome()

void chrono::ros::ChROSInterface::SpinSome ( std::chrono::nanoseconds  max_duration = std::chrono::nanoseconds(0) )

virtual

Tick once.

Will basically just call rclcpp::spin_some() NOTE: This is non-blocking. Available work will be executed, but it won't wait until it's completed if max_duration is 0 or the time since the last call to SpinSome is less than max_duration.

Reimplemented in chrono::ros::ChROSIPCInterface.

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

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