Description

Collaboration diagram for ROS Vehicle Handlers:

Classes
class	chrono::ros::ChROSDriverInputsHandler
	This handler is responsible for interfacing a ChDriver to ROS. More...

Functions
	chrono::ros::ChROSDriverInputsHandler::ChROSDriverInputsHandler (std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Convenience constructor. More...

	chrono::ros::ChROSDriverInputsHandler::ChROSDriverInputsHandler (double update_rate, std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Constructor for the ChROSDriverInputsHandler class. More...

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

virtual void	chrono::ros::ChROSDriverInputsHandler::Tick (double time) override
	Updates the driver with stored inputs data from Callback.

Function Documentation

chrono::ros::ChROSDriverInputsHandler::ChROSDriverInputsHandler	(	double	update_rate,
		std::shared_ptr< chrono::vehicle::ChDriver >	driver,
		const std::string &	topic_name
	)

Constructor for the ChROSDriverInputsHandler class.

Takes a ChDriver. A subscriber will listen for data, store received data, and update the driver only during the Ticks.

chrono::ros::ChROSDriverInputsHandler::ChROSDriverInputsHandler	(	std::shared_ptr< chrono::vehicle::ChDriver >	driver,
		const std::string &	topic_name
	)

Convenience constructor.

Will set the update rate to 0, which means the Tick() function will update on each update call.

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

overridevirtual

Initializes the handler.

Creates a subscriber of chrono_ros_interfaces::msg::DriverInputs on topic "~/input/driver_inputs".