Class Ros2SensorPlugin

• Defined in File Ros2SensorPlugin.hpp

Inheritance Relationships

Base Type

• public webots_ros2_driver::PluginInterface (Class PluginInterface)

Derived Types

• public webots_ros2_driver::Ros2Camera (Class Ros2Camera)

• public webots_ros2_driver::Ros2Compass (Class Ros2Compass)

• public webots_ros2_driver::Ros2DistanceSensor (Class Ros2DistanceSensor)

• public webots_ros2_driver::Ros2Emitter (Class Ros2Emitter)

• public webots_ros2_driver::Ros2GPS (Class Ros2GPS)

• public webots_ros2_driver::Ros2IMU (Class Ros2IMU)

• public webots_ros2_driver::Ros2Lidar (Class Ros2Lidar)

• public webots_ros2_driver::Ros2LightSensor (Class Ros2LightSensor)

• public webots_ros2_driver::Ros2RGBD (Class Ros2RGBD)

• public webots_ros2_driver::Ros2RangeFinder (Class Ros2RangeFinder)

• public webots_ros2_driver::Ros2Receiver (Class Ros2Receiver)

• public webots_ros2_driver::Ros2VacuumGripper (Class Ros2VacuumGripper)

Class Documentation

class Ros2SensorPlugin : public webots_ros2_driver::PluginInterface

Utility class for common Webots sensors.

Subclassed by webots_ros2_driver::Ros2Camera, webots_ros2_driver::Ros2Compass, webots_ros2_driver::Ros2DistanceSensor, webots_ros2_driver::Ros2Emitter, webots_ros2_driver::Ros2GPS, webots_ros2_driver::Ros2IMU, webots_ros2_driver::Ros2Lidar, webots_ros2_driver::Ros2LightSensor, webots_ros2_driver::Ros2RGBD, webots_ros2_driver::Ros2RangeFinder, webots_ros2_driver::Ros2Receiver, webots_ros2_driver::Ros2VacuumGripper

Public Functions

virtual void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &parameters) override

Prepare your plugin in this method. Fired before the node is spinned. Parameters are passed from the WebotsNode and/or from URDF.

Parameters:

• node – [in] WebotsNode inherited from rclcpp::Node with a few extra methods related

• parameters – [in] Parameters (key-value pairs) located under a <plugin> (dynamically loaded plugins) or <ros> (statically loaded plugins).

Protected Functions

bool preStep()

Checks if a sensor has data ready and updates the last update time.

Returns:

Should publishing from the sensor be considered

Protected Attributes

webots_ros2_driver::WebotsNode *mNode

std::string mTopicName

std::string mFrameName

double mPublishTimestep

bool mAlwaysOn

int mPublishTimestepSyncedMs

double mLastUpdate