Class GuidedLidarLidarTargetPlacementNode

Inheritance Relationships

Base Types

Class Documentation

class GuidedLidarLidarTargetPlacementNode : public multisensor_calibration::GuidanceBase, public rclcpp::Node

Node for guided target placement in the context of extrinsic lidar-lidar calibration.

Note

The guidance feature of multisensor_calibration is currently still in development and not yet functional.

Public Functions

GuidedLidarLidarTargetPlacementNode(std::string iNodeName, rclcpp::NodeOptions iOptions)

Default constructor.

virtual ~GuidedLidarLidarTargetPlacementNode()

Destructor.

void init()

The onInit method is called by node manager. It is responsible for initializing the node.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Note

It is important that this method returns, otherwise the node gets stuck during the initialization

Protected Attributes

rclcpp::Publisher<TargetPlacementBox_Message_T>::SharedPtr guidanceBoxPub_

Publisher for box guiding the next target position.

rclcpp::TimerBase::SharedPtr publishGuidanceBoxTimer_

Timer object to trigger publishing of guidance box.

rclcpp::Node *pNode_

Node handle.