Class BridgeROS2

• Defined in File BridgeROS2.h

Nested Relationships

Nested Types

• Struct BridgeROS2::MolaSubs

• Struct BridgeROS2::Params

• Struct BridgeROS2::RosPubs

Inheritance Relationships

Base Types

• public mola::RawDataSourceBase

• public mola::RawDataConsumer

Class Documentation

class BridgeROS2 : public mola::RawDataSourceBase, public mola::RawDataConsumer

A bridge to read sensor observations from ROS 2 topics and forwarding them to other MOLA subsystems, and to publish MOLA topics, localization, and maps to ROS 2.

Public Functions

BridgeROS2()

~BridgeROS2() override

virtual void spinOnce() override

virtual void onNewObservation(const CObservation::Ptr &o) override

Protected Functions

virtual void initialize_rds(const Yaml &cfg) override