Class InputSocket
Defined in File input.hpp
Inheritance Relationships
Base Type
public velodyne_driver::Input(Class Input)
Class Documentation
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class InputSocket : public velodyne_driver::Input
Live Velodyne input from socket.
Public Functions
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explicit InputSocket(rclcpp::Node *private_nh, const std::string &devip, uint16_t port, bool gps_time)
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~InputSocket() override
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virtual int getPacket(velodyne_msgs::msg::VelodynePacket *pkt, const double time_offset) override
Read one Velodyne packet.
- Parameters:
pkt – points to VelodynePacket message
- Returns:
0 if successful, -1 if end of file > 0 if incomplete packet (is this possible?)
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void setDeviceIP(const std::string &ip)
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explicit InputSocket(rclcpp::Node *private_nh, const std::string &devip, uint16_t port, bool gps_time)