Description

ROS Handlers.

Collaboration diagram for ROS Handlers:

Classes
class	chrono::ros::ChROSBodyHandler
	Publishes the state of a ChBody on three topics derived from a base topic: <topic>/pose geometry_msgs/msg/PoseStamped (position + orientation) <topic>/twist geometry_msgs/msg/TwistStamped (linear + angular velocity) <topic>/accel geometry_msgs/msg/AccelStamped (linear + angular accel.) With the default base topic "~/" these resolve to ~/pose, ~/twist, ~/accel. More...

class	chrono::ros::ChROSClockHandler
	Publishes rosgraph_msgs/msg/Clock at each simulation step (by default), so that ROS nodes consuming /clock advance on simulation time rather than wall time. More...

class	chrono::ros::ChROSTFHandler
	Publishes transforms as tf2_msgs/msg/TFMessage on the "/tf" topic (the topic tf2 consumers expect). More...

class	chrono::ros::ChROSRobotModelHandler
	Publishes a robot model (a URDF string) on /robot_description as std_msgs/msg/String with latched (transient-local) QoS, so late-joining consumers such as RViz still receive it. More...

Modules