Description

Handler for publishing Lidar data to ROS via IPC communication.

PUBLISHER PATTERN (Chrono → ROS):

Main process: Extracts point cloud or laser scan data from ChLidarSensor
Main process: Serializes metadata + raw data into byte vector
Subprocess: Deserializes and publishes as sensor_msgs::msg::PointCloud2 or LaserScan

Data flow: ChLidarSensor → Main process → IPC → Subprocess → ROS topic

Implementation files:

ChROSLidarHandler.cpp: Main process logic (extract and serialize)
ChROSLidarHandler_ros.cpp: Subprocess ROS publisher
ChROSLidarHandler_ipc.h: IPC data structure definition

#include <ChROSLidarHandler.h>

Inheritance diagram for chrono::ros::ChROSLidarHandler:

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Collaboration diagram for chrono::ros::ChROSLidarHandler:

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Public Member Functions
	ChROSLidarHandler (std::shared_ptr< chrono::sensor::ChLidarSensor > lidar, const std::string &topic_name, ChROSLidarHandlerMessageType msg_type=ChROSLidarHandlerMessageType::POINT_CLOUD2)
	Constructor. More...

	ChROSLidarHandler (double update_rate, std::shared_ptr< chrono::sensor::ChLidarSensor > lidar, const std::string &topic_name, ChROSLidarHandlerMessageType msg_type=ChROSLidarHandlerMessageType::POINT_CLOUD2)
	Full constructor. More...

virtual bool	Initialize (std::shared_ptr< ChROSInterface > interface) override
	Initializes the handler. More...

virtual std::vector< uint8_t >	GetSerializedData (double time) override
	Extract and serialize lidar data for IPC transmission. More...

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

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...

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. More...

void	IncrementTickCount ()
	Increment the tick count.

Constructor & Destructor Documentation

◆ ChROSLidarHandler() [1/2]

chrono::ros::ChROSLidarHandler::ChROSLidarHandler	(	std::shared_ptr< chrono::sensor::ChLidarSensor >	lidar,
		const std::string &	topic_name,
		ChROSLidarHandlerMessageType	msg_type = `ChROSLidarHandlerMessageType::POINT_CLOUD2`
	)

Constructor.

The update rate is set to lidar->GetUpdateRate().

Parameters

lidar	Lidar sensor to publish data from
topic_name	ROS topic to publish data to
msg_type	Type of ROS message to publish (POINT_CLOUD2 or LASER_SCAN)

◆ ChROSLidarHandler() [2/2]

chrono::ros::ChROSLidarHandler::ChROSLidarHandler	(	double	update_rate,
		std::shared_ptr< chrono::sensor::ChLidarSensor >	lidar,
		const std::string &	topic_name,
		ChROSLidarHandlerMessageType	msg_type = `ChROSLidarHandlerMessageType::POINT_CLOUD2`
	)

Full constructor.

Takes a ChLidarSensor, update rate, and topic name.

Parameters

update_rate	Rate at which to publish data (Hz)
lidar	Lidar sensor to publish data from
topic_name	ROS topic to publish data to
msg_type	Type of ROS message to publish (POINT_CLOUD2 or LASER_SCAN)

Member Function Documentation

◆ GetSerializedData()

std::vector< uint8_t > chrono::ros::ChROSLidarHandler::GetSerializedData ( double time )

overridevirtual

Extract and serialize lidar data for IPC transmission.

Called in main process at update_rate frequency. Returns metadata + raw data as byte vector.

Parameters

time	Current simulation time

Returns: Serialized lidar data (header + data)

Reimplemented from chrono::ros::ChROSHandler.

◆ Initialize()

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

overridevirtual

Initializes the handler.

In IPC mode, validates sensor has required filter, but doesn't create ROS publisher.

Implements chrono::ros::ChROSHandler.

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

/builds/uwsbel/chrono/src/chrono_ros/handlers/sensor/ChROSLidarHandler.h
/builds/uwsbel/chrono/src/chrono_ros/handlers/sensor/ChROSLidarHandler.cpp

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChROSLidarHandler() [1/2]

◆ ChROSLidarHandler() [2/2]

Member Function Documentation

◆ GetSerializedData()

◆ Initialize()