This class is the base class for abstraction. More...

#include <typedefs.hpp>

Inheritance diagram for ROSaicNodeBase:

Public Member Functions
Timestamp	getTime () const
	Gets current timestamp. More...

bool	getUint32Param (const std::string &name, uint32_t &val, uint32_t defaultVal) const
	Gets an integer or unsigned integer value from the parameter server. More...

bool	hasHeading ()
	Check if Rx has heading. More...

bool	hasImprovedVsmHandling ()
	Check if Rx has improved VSM handling. More...

bool	isIns ()
	Check if Rx is INS. More...

void	log (log_level::LogLevel logLevel, const std::string &s) const
	Log function to provide abstraction of ROS loggers. More...

template<typename T >
bool	param (const std::string &name, T &val, const T &defaultVal) const
	Gets parameter of type T from the parameter server. More...

template<typename M >
void	publishMessage (const std::string &topic, const M &msg)
	Publishing function. More...

void	publishTf (const LocalizationMsg &loc)
	Publishing function for tf. More...

void	registerSubscriber ()

	ROSaicNodeBase ()

void	setHasHeading ()
	Set has heading to true. More...

void	setImprovedVsmHandling ()
	Set improved VSM handling to true. More...

void	setIsIns ()
	Set INS to true. More...

const Settings *	settings () const

virtual	~ROSaicNodeBase ()

Protected Member Functions
virtual void	sendVelocity (const std::string &velNmea)=0
	Send velocity to communication layer (virtual) More...

Protected Attributes
std::shared_ptr< ros::NodeHandle >	pNh_
	Node handle pointer. More...

Settings	settings_
	Settings. More...

Private Member Functions
void	callbackOdometry (const nav_msgs::Odometry::ConstPtr &odo)

void	callbackTwist (const TwistWithCovarianceStampedMsg::ConstPtr &twist)

void	processTwist (Timestamp stamp, const geometry_msgs::TwistWithCovariance &twist)

Private Attributes
Capabilities	capabilities_

TimestampRos	lastTfStamp_
	Last tf stamp. More...

ros::Subscriber	odometrySubscriber_
	Odometry subscriber. More...

uint32_t	queueSize_ = 1
	Publisher queue size. More...

tf2_ros::TransformBroadcaster	tf2Publisher_
	Transform publisher. More...

tf2_ros::Buffer	tfBuffer_
	tf buffer More...

tf2_ros::TransformListener	tfListener_

std::unordered_map< std::string, ros::Publisher >	topicMap_
	Map of topics and publishers. More...

ros::Subscriber	twistSubscriber_
	Twist subscriber. More...

Detailed Description

This class is the base class for abstraction.

Definition at line 184 of file typedefs.hpp.

Constructor & Destructor Documentation

◆ ROSaicNodeBase()

ROSaicNodeBase::ROSaicNodeBase ( )

inline

Definition at line 187 of file typedefs.hpp.

◆ ~ROSaicNodeBase()

virtual ROSaicNodeBase::~ROSaicNodeBase ( )

inlinevirtual

Definition at line 192 of file typedefs.hpp.

Member Function Documentation

◆ callbackOdometry()

void ROSaicNodeBase::callbackOdometry ( const nav_msgs::Odometry::ConstPtr & odo )

inlineprivate

Definition at line 407 of file typedefs.hpp.

◆ callbackTwist()

void ROSaicNodeBase::callbackTwist ( const TwistWithCovarianceStampedMsg::ConstPtr & twist )

inlineprivate

Definition at line 414 of file typedefs.hpp.

◆ getTime()

Timestamp ROSaicNodeBase::getTime ( ) const

inline

Gets current timestamp.

Returns: Timestamp

Definition at line 285 of file typedefs.hpp.

◆ getUint32Param()

bool ROSaicNodeBase::getUint32Param	(	const std::string &	name,
		uint32_t &	val,
		uint32_t	defaultVal
	)		const

inline

Gets an integer or unsigned integer value from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type U, which can be either unsigned int or int
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Definition at line 224 of file typedefs.hpp.

◆ hasHeading()

bool ROSaicNodeBase::hasHeading ( )

inline

Check if Rx has heading.

Definition at line 399 of file typedefs.hpp.

◆ hasImprovedVsmHandling()

bool ROSaicNodeBase::hasImprovedVsmHandling ( )

inline

Check if Rx has improved VSM handling.

Definition at line 404 of file typedefs.hpp.

◆ isIns()

bool ROSaicNodeBase::isIns ( )

inline

Check if Rx is INS.

Definition at line 394 of file typedefs.hpp.

◆ log()

void ROSaicNodeBase::log	(	log_level::LogLevel	logLevel,
		const std::string &	s
	)		const

inline

Log function to provide abstraction of ROS loggers.

Parameters

[in]	logLevel	Log level
[in]	s	String to log

Definition at line 257 of file typedefs.hpp.

◆ param()

template<typename T >

bool ROSaicNodeBase::param	(	const std::string &	name,
		T &	val,
		const T &	defaultVal
	)		const

inline

Gets parameter of type T from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type T
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Returns: True if it could be retrieved, false if not

Definition at line 247 of file typedefs.hpp.

◆ processTwist()

void ROSaicNodeBase::processTwist	(	Timestamp	stamp,
		const geometry_msgs::TwistWithCovariance &	twist
	)

inlineprivate

Definition at line 421 of file typedefs.hpp.

◆ publishMessage()

template<typename M >

void ROSaicNodeBase::publishMessage	(	const std::string &	topic,
		const M &	msg
	)

inline

Publishing function.

Parameters

[in]	topic	String of topic
[in]	msg	ROS message to be published

Definition at line 293 of file typedefs.hpp.

◆ publishTf()

void ROSaicNodeBase::publishTf ( const LocalizationMsg & loc )

inline

Publishing function for tf.

Parameters

[in] msg ROS localization message to be converted to tf

Definition at line 311 of file typedefs.hpp.

◆ registerSubscriber()

void ROSaicNodeBase::registerSubscriber ( )

inline

Definition at line 196 of file typedefs.hpp.

◆ sendVelocity()

virtual void ROSaicNodeBase::sendVelocity ( const std::string & velNmea )

protectedpure virtual

Send velocity to communication layer (virtual)

Implemented in rosaic_node::ROSaicNode.

◆ setHasHeading()

void ROSaicNodeBase::setHasHeading ( )

inline

Set has heading to true.

Definition at line 384 of file typedefs.hpp.

◆ setImprovedVsmHandling()

void ROSaicNodeBase::setImprovedVsmHandling ( )

inline

Set improved VSM handling to true.

Definition at line 389 of file typedefs.hpp.

◆ setIsIns()

void ROSaicNodeBase::setIsIns ( )

inline

Set INS to true.

Definition at line 379 of file typedefs.hpp.

◆ settings()

const Settings* ROSaicNodeBase::settings ( ) const

inline

Definition at line 194 of file typedefs.hpp.

Member Data Documentation

◆ capabilities_

Capabilities ROSaicNodeBase::capabilities_

private

Definition at line 567 of file typedefs.hpp.

◆ lastTfStamp_

TimestampRos ROSaicNodeBase::lastTfStamp_

private

Last tf stamp.

Definition at line 561 of file typedefs.hpp.

◆ odometrySubscriber_

ros::Subscriber ROSaicNodeBase::odometrySubscriber_

private

Odometry subscriber.

Definition at line 557 of file typedefs.hpp.

◆ pNh_

std::shared_ptr<ros::NodeHandle> ROSaicNodeBase::pNh_

protected

Node handle pointer.

Definition at line 543 of file typedefs.hpp.

◆ queueSize_

uint32_t ROSaicNodeBase::queueSize_ = 1

private

Publisher queue size.

Definition at line 553 of file typedefs.hpp.

◆ settings_

Settings ROSaicNodeBase::settings_

protected

Settings.

Definition at line 545 of file typedefs.hpp.

◆ tf2Publisher_

tf2_ros::TransformBroadcaster ROSaicNodeBase::tf2Publisher_

private

Transform publisher.

Definition at line 555 of file typedefs.hpp.

◆ tfBuffer_

tf2_ros::Buffer ROSaicNodeBase::tfBuffer_

private

tf buffer

Definition at line 563 of file typedefs.hpp.

◆ tfListener_

tf2_ros::TransformListener ROSaicNodeBase::tfListener_

private

Definition at line 565 of file typedefs.hpp.

◆ topicMap_

std::unordered_map<std::string, ros::Publisher> ROSaicNodeBase::topicMap_

private

Map of topics and publishers.

Definition at line 551 of file typedefs.hpp.

◆ twistSubscriber_

ros::Subscriber ROSaicNodeBase::twistSubscriber_

private

Twist subscriber.

Definition at line 559 of file typedefs.hpp.

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

typedefs.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ROSaicNodeBase()

◆ ~ROSaicNodeBase()

Member Function Documentation

◆ callbackOdometry()

◆ callbackTwist()

◆ getTime()

◆ getUint32Param()

◆ hasHeading()

◆ hasImprovedVsmHandling()

◆ isIns()

◆ log()

◆ param()

◆ processTwist()

◆ publishMessage()

◆ publishTf()

◆ registerSubscriber()

◆ sendVelocity()

◆ setHasHeading()

◆ setImprovedVsmHandling()

◆ setIsIns()

◆ settings()

Member Data Documentation

◆ capabilities_

◆ lastTfStamp_

◆ odometrySubscriber_

◆ pNh_

◆ queueSize_

◆ settings_

◆ tf2Publisher_

◆ tfBuffer_

◆ tfListener_

◆ topicMap_

◆ twistSubscriber_