Class ClientMotionCommandInterface

Inheritance Relationships

Base Type

Class Documentation

class ClientMotionCommandInterface : public ReceivingInterface

Specific receiving interface for Client Motion Commands.

This class inherits from ReceivingInterface and specializes in receiving motion command data, which is then published as ROS geometry_msgs::msg::Twist messages

Public Functions

ClientMotionCommandInterface(const Poco::Net::IPAddress &hostadress, const Poco::UInt16 binaryClientNavigatorPort, rclcpp::Node::SharedPtr node)

Constructs a new ClientMotionCommandInterface object.

Parameters:

  • hostadress – The IP address of the Navigator

  • binaryClientNavigatorPort – The specific port for Navigator motion commands

  • node – A shared pointer to the ROS 2 node

virtual size_t tryToParseData(const std::vector<char> &datagram, rclcpp::Node::SharedPtr node) override

Parses incoming raw motion command data.

Parameters:

  • datagram – The buffer containing raw binary motion command data

  • node – A shared pointer to the ROS 2 node

Returns:

The amount of bytes successfully parsed