chrono::ros Namespace Reference

Description

Namespace for Chrono::ROS.

Classes
class	ChROSAccelerometerHandler
	This handler is responsible for interfacing a ChAccelerometerSensor to ROS. Will publish sensor_msgs::msg::Imu. More...
struct	ChROSBodyData
	Data structure for body handler communication between processes. More...
class	ChROSBodyHandler
	Publishes pose, twist, and acceleration information for a ChBody. More...
class	ChROSCameraHandler
	Handler for publishing camera images to ROS via IPC communication. More...
struct	ChROSClockData
	Data structure for clock handler communication between processes. More...
class	ChROSClockHandler
	Publishes rosgraph_msgs::msg::Clock messages to synchronize ROS time with simulation time. More...
class	ChROSDriverInputsHandler
	Handler for interfacing a ChDriver to ROS via bidirectional IPC communication. More...
class	ChROSGPSHandler
	This handler is responsible for interfacing a ChGPSSensor to ROS. Will publish sensor_msgs::msg::NavSatFix. More...
class	ChROSGyroscopeHandler
	This handler is responsible for interfacing a ChGyroscopeSensor to ROS. Will publish sensor_msgs::msg::Imu. More...
class	ChROSHandler
	Base class for a ROS handler. More...
class	ChROSHandlerRegistry
	Registry for handler publishing functions in the subprocess. More...
class	ChROSHandlerUtilities
	Utility class with static helper functions for ROS handlers. More...
class	ChROSInterface
	This class handles the API interface between Chrono and ROS. More...
class	ChROSIPCInterface
	IPC-based interface that runs ROS in a separate process to avoid symbol conflicts. More...
class	ChROSLidarHandler
	Handler for publishing Lidar data to ROS via IPC communication. More...
class	ChROSMagnetometerHandler
	This handler is responsible for interfacing a ChMagnetometerSensor to ROS. More...
class	ChROSManager
	Manages the ROS handlers and their registration/updates. More...
class	ChROSRobotModelHandler
	This handler is responsible for publishing a robot model to be visualized in RViz RViz expects a string containing the robot model. More...
class	ChROSSensorHandlerUtilities
	Utility class with static functions that may be useful for sensor-specific ROS handlers. More...
class	ChROSTFHandler
	Handler responsible for publishing transform (tf) information via IPC. More...
class	ChROSViperDCMotorControlHandler
	This handler is responsible for interfacing a ViperDCMotorControl driver to ROS. More...

Enumerations
enum	ChROSLidarHandlerMessageType { LASER_SCAN, POINT_CLOUD2 }

Functions
void	PublishBodyToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
	ROS publishing function for body handler This is called in the subprocess when body data arrives via IPC.
void	PublishClockToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
	ROS publishing function for clock handler This is called in the subprocess when clock data arrives via IPC.
geometry_msgs::msg::TransformStamped	CreateTransformStamped (chrono::ChFrame<> local_to_parent, const std::string &parent_frame_id, const std::string &child_frame_id, double time)
void	PublishTFToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
	ROS publishing function for TF handler Receives variable-size array of transforms and publishes to /tf.
void	PublishRobotModelToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
void	OnViperDCMotorControlReceived (const chrono_ros_interfaces::msg::ViperDCMotorControl::SharedPtr msg)
void	SetupViperDCMotorControlSubscriber (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
	Setup function called by subprocess to create ROS subscriber. More...
void	PublishAccelerometerToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
void	PublishCameraToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
	ROS publishing function for camera handler This is called in the subprocess when camera data arrives via IPC.
void	PublishGPSToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
void	PublishGyroscopeToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
void	PublishIMUToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
void	PublishLidarPointCloud (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
void	PublishLidarLaserScan (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
void	PublishMagnetometerToROS (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
void	OnDriverInputsReceived (const chrono_ros_interfaces::msg::DriverInputs::SharedPtr msg)
	Callback when ROS message is received - sends via IPC back to main process.
void	SetupDriverInputsSubscriber (const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel)
	Setup function called from subprocess dispatcher This creates the ROS subscriber and stores the IPC channel for sending back.

Function Documentation

SetupViperDCMotorControlSubscriber()

void chrono::ros::SetupViperDCMotorControlSubscriber	(	const uint8_t *	data,
		size_t	data_size,
		rclcpp::Node::SharedPtr	node,
		ipc::IPCChannel *	channel
	)

Setup function called by subprocess to create ROS subscriber.

Parameters

data	Serialized topic name from main process
data_size	Size of data in bytes
node	ROS node to create subscriber on