Class ScanProcessor

Inheritance Relationships

Base Type

Class Documentation

class ScanProcessor : public ros2_ouster::DataProcessorInterface

A data processor interface implementation of a processor for creating Scans in the driver in ROS2.

Public Functions

inline ScanProcessor(const rclcpp_lifecycle::LifecycleNode::SharedPtr node, const ouster::sensor::sensor_info &mdata, const std::string &frame, const rclcpp::QoS &qos, const ouster::sensor::packet_format &pf, std::shared_ptr<sensor::FullRotationAccumulator> fullRotationAccumulator)

A constructor for sensor::ScanProcessor.

Parameters:

  • node – Node for creating interfaces

  • mdata – metadata about the sensor

  • frame – frame_id to use for messages

inline ~ScanProcessor()

A destructor clearing memory allocated.

inline virtual bool process(const uint8_t *data, const uint64_t override_ts) override

Process method to create scan.

Parameters:

data – the packet data

inline virtual void onActivate() override

Activating processor from lifecycle state transitions.

inline virtual void onDeactivate() override

Deactivating processor from lifecycle state transitions.