Class LFCDLaser
Defined in File hlds_laser_segment_publisher.h
Class Documentation
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class hls_lfcd_lds::LFCDLaser
Public Functions
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LFCDLaser(boost::asio::io_service &io)
Constructs a new LFCDLaser attached to the given serial port.
- Parameters
port – The string for the serial port device to attempt to connect to, e.g. “/dev/ttyUSB0”
baud_rate – The baud rate to open the serial port at.
io – Boost ASIO IO Service to use when creating the serial port object
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inline ~LFCDLaser()
Default destructor.
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void poll()
Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called.
- Parameters
scan – LaserScan message pointer to fill in with the scan. The caller is responsible for filling in the ROS timestamp and frame_id
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void close()
Close the driver down and prevent the polling loop from advancing.
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LFCDLaser(const std::string &port, uint32_t baud_rate, boost::asio::io_service &io)
Constructs a new LFCDLaser attached to the given serial port.
- Parameters
port – The string for the serial port device to attempt to connect to, e.g. “/dev/ttyUSB0”
baud_rate – The baud rate to open the serial port at.
io – Boost ASIO IO Service to use when creating the serial port object
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~LFCDLaser()
Default destructor.
Poll the laser to get a new scan. Blocks until a complete new scan is received or close is called.
- Parameters
scan – LaserScan message pointer to fill in with the scan. The caller is responsible for filling in the ROS timestamp and frame_id
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inline void close()
Close the driver down and prevent the polling loop from advancing.
Public Members
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uint16_t rpms
RPMS derived from the rpm bytes in an LFCD packet.
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LFCDLaser(boost::asio::io_service &io)