Class SickSafetyscanners

Defined in File SickSafetyscanners.hpp

Nested Relationships

Nested Types

Struct SickSafetyscanners::Config

Inheritance Relationships

Derived Types

public sick::SickSafetyscannersLifeCycle (Class SickSafetyscannersLifeCycle)
public sick::SickSafetyscannersRos2 (Class SickSafetyscannersRos2)

Class Documentation

class SickSafetyscanners

Sick safety scanners base class that implements the shared functionality between the Node (Ros2) and LifCycle node (LifeCycle)

Subclassed by sick::SickSafetyscannersLifeCycle, sick::SickSafetyscannersRos2

Public Types

using DiagnosedLaserScanPublisher = diagnostic_updater::DiagnosedPublisher<sensor_msgs::msg::LaserScan>

Public Functions

template<typename NodeT> inline void loadParameters(NodeT &node)

Load the initial parameters

This method is a template function because the node and lifecycle node are not sharing the same implementation but have the same interface.

Template Parameters:: NodeT – Templated node input
Parameters:: node – Node

rcl_interfaces::msg::SetParametersResult parametersCallback(std::vector<rclcpp::Parameter> parameters)

void setupCommunication(std::function<void(const sick::datastructure::Data&)> callback)

Setup the device communication

Parameters:: callback – Callback that fires when a new UDP packet is received

template<typename NodeT> inline void startCommunication(NodeT *node, rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr publisher): Start the sensor communication by receiving UDP packets

void stopCommunication(): Stop the sensor communication

void sensorDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &diagnostic_status)

bool getFieldData(const std::shared_ptr<sick_safetyscanners2_interfaces::srv::FieldData::Request> request, std::shared_ptr<sick_safetyscanners2_interfaces::srv::FieldData::Response> response)

void readPersistentConfig()

void readTypeCodeSettings()

void readMetadata()

void readFirmwareVersion()

Public Members

Config m_config

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr m_param_callback

std::shared_ptr<diagnostic_updater::Updater> m_diagnostic_updater

std::shared_ptr<DiagnosedLaserScanPublisher> m_diagnosed_laser_scan_publisher

std::unique_ptr<sick::AsyncSickSafetyScanner> m_device

sick_safetyscanners2_interfaces::msg::RawMicroScanData m_last_raw_msg

Public Static Functions

template<typename NodeT> static inline void initializeParameters(NodeT &node)

Initialize parameters for this node

This method is a template function because the node and lifecycle node are not sharing the same implementation but have the same interface.

Template Parameters:: NodeT – Templated node input
Parameters:: node – Node

struct Config

Sick safety scanner configuration

Public Functions

inline void setupMsgCreator()

Public Members

boost::asio::ip::address_v4 m_sensor_ip

boost::asio::ip::address_v4 m_interface_ip

std::string m_frame_id

double m_time_offset = 0.0

double m_range_min = 0.0

double m_range_max

double m_frequency_tolerance = 0.1

double m_expected_frequency = 34.0

double m_timestamp_min_acceptable = -1.0

double m_timestamp_max_acceptable = 1.0

double m_min_intensities = 0.0: min intensities for laser points

bool m_use_sick_angles

float m_angle_offset = -90.0

bool m_use_pers_conf = false

sick::types::port_t m_tcp_port = 2122

datastructure::ConfigMetadata m_metadata

datastructure::FirmwareVersion m_firmware_version

sick::datastructure::CommSettings m_communications_settings

std::unique_ptr<sick::MessageCreator> m_msg_creator