Class URGCWrapper

• Defined in File urg_c_wrapper.hpp

Class Documentation

class URGCWrapper

Public Functions

URGCWrapper(const EthernetConnection &connection, bool &using_intensity, bool &using_multiecho, const rclcpp::Logger &logger = rclcpp::get_logger("urg_c_wrapper"))

URGCWrapper(const SerialConnection &connection, bool &using_intensity, bool &using_multiecho, const rclcpp::Logger &logger = rclcpp::get_logger("urg_c_wrapper"))

~URGCWrapper()

void start()

void stop()

bool isStarted() const

double getRangeMin() const

double getRangeMax() const

double getAngleMin() const

double getAngleMax() const

double getAngleMinLimit() const

double getAngleMaxLimit() const

double getAngleIncrement() const

double getScanPeriod() const

double getTimeIncrement() const

std::string getIPAddress() const

int getIPPort() const

std::string getSerialPort() const

int getSerialBaud() const

std::string getVendorName()

std::string getProductName()

std::string getFirmwareVersion()

std::string getFirmwareDate()

std::string getProtocolVersion()

std::string getDeviceID()

rclcpp::Duration getComputedLatency() const

rclcpp::Duration getUserLatency() const

std::string getSensorStatus()

std::string getSensorState()

void setFrameId(const std::string &frame_id)

void setUserLatency(const double latency)

bool setAngleLimitsAndCluster(double &angle_min, double &angle_max, int cluster)

void setSkip(int skip)

rclcpp::Duration computeLatency(size_t num_measurements)

bool grabScan(sensor_msgs::msg::LaserScan &msg)

bool grabScan(sensor_msgs::msg::MultiEchoLaserScan &msg)

bool getAR00Status(URGStatus &status)

bool getDL00Status(UrgDetectionReport &report)