Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
realsense2_camera::T265RealsenseNode Class Reference

#include <t265_realsense_node.h>

Inheritance diagram for realsense2_camera::T265RealsenseNode:
Inheritance graph
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Public Member Functions

virtual void publishTopics () override
 
 T265RealsenseNode (ros::NodeHandle &nodeHandle, ros::NodeHandle &privateNodeHandle, rs2::device dev, const std::string &serial_no)
 
virtual void toggleSensors (bool enabled) override
 
- Public Member Functions inherited from realsense2_camera::BaseRealSenseNode
 BaseRealSenseNode (ros::NodeHandle &nodeHandle, ros::NodeHandle &privateNodeHandle, rs2::device dev, const std::string &serial_no)
 
virtual void registerDynamicReconfigCb (ros::NodeHandle &nh) override
 
virtual ~BaseRealSenseNode ()
 
- Public Member Functions inherited from realsense2_camera::InterfaceRealSenseNode
virtual ~InterfaceRealSenseNode ()=default
 

Protected Member Functions

void calcAndPublishStaticTransform (const stream_index_pair &stream, const rs2::stream_profile &base_profile) override
 
- Protected Member Functions inherited from realsense2_camera::BaseRealSenseNode
rs2::stream_profile getAProfile (const stream_index_pair &stream)
 
void publish_static_tf (const ros::Time &t, const float3 &trans, const tf::Quaternion &q, const std::string &from, const std::string &to)
 
tf::Quaternion rotationMatrixToQuaternion (const float rotation[9]) const
 

Private Member Functions

void handleWarning ()
 
void initializeOdometryInput ()
 
void odom_in_callback (const nav_msgs::Odometry::ConstPtr &msg)
 
void setupSubscribers ()
 
void warningDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
 

Private Attributes

ros::Subscriber _odom_subscriber
 
std::string _T265_fault
 
bool _use_odom_in
 
rs2::wheel_odometer _wo_snr
 
diagnostic_updater::Updater callback_updater
 

Additional Inherited Members

- Public Types inherited from realsense2_camera::BaseRealSenseNode
enum  imu_sync_method { NONE, COPY, LINEAR_INTERPOLATION }
 
- Protected Attributes inherited from realsense2_camera::BaseRealSenseNode
bool _align_depth
 
std::string _base_frame_id
 
std::map< stream_index_pair, std::string_depth_aligned_frame_id
 
std::map< stream_index_pair, std::string_frame_id
 
bool _is_running
 
std::vector< rs2_option_monitor_options
 
ros::NodeHandle_node_handle
 
std::string _odom_frame_id
 
std::map< stream_index_pair, std::string_optical_frame_id
 
ros::NodeHandle _pnh
 

Detailed Description

Definition at line 7 of file t265_realsense_node.h.

Constructor & Destructor Documentation

T265RealsenseNode::T265RealsenseNode ( ros::NodeHandle nodeHandle,
ros::NodeHandle privateNodeHandle,
rs2::device  dev,
const std::string serial_no 
)

Definition at line 5 of file t265_realsense_node.cpp.

Member Function Documentation

void T265RealsenseNode::calcAndPublishStaticTransform ( const stream_index_pair stream,
const rs2::stream_profile base_profile 
)
overrideprotectedvirtual

Reimplemented from realsense2_camera::BaseRealSenseNode.

Definition at line 94 of file t265_realsense_node.cpp.

void T265RealsenseNode::handleWarning ( )
private

Definition at line 56 of file t265_realsense_node.cpp.

void T265RealsenseNode::initializeOdometryInput ( )
private

Definition at line 18 of file t265_realsense_node.cpp.

void T265RealsenseNode::odom_in_callback ( const nav_msgs::Odometry::ConstPtr &  msg)
private

Definition at line 83 of file t265_realsense_node.cpp.

void T265RealsenseNode::publishTopics ( )
overridevirtual

Reimplemented from realsense2_camera::BaseRealSenseNode.

Definition at line 50 of file t265_realsense_node.cpp.

void T265RealsenseNode::setupSubscribers ( )
private

Definition at line 72 of file t265_realsense_node.cpp.

void T265RealsenseNode::toggleSensors ( bool  enabled)
overridevirtual

Reimplemented from realsense2_camera::BaseRealSenseNode.

Definition at line 45 of file t265_realsense_node.cpp.

void T265RealsenseNode::warningDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper stat)
private

Definition at line 143 of file t265_realsense_node.cpp.

Member Data Documentation

ros::Subscriber realsense2_camera::T265RealsenseNode::_odom_subscriber
private

Definition at line 28 of file t265_realsense_node.h.

std::string realsense2_camera::T265RealsenseNode::_T265_fault
private

Definition at line 31 of file t265_realsense_node.h.

bool realsense2_camera::T265RealsenseNode::_use_odom_in
private

Definition at line 30 of file t265_realsense_node.h.

rs2::wheel_odometer realsense2_camera::T265RealsenseNode::_wo_snr
private

Definition at line 29 of file t265_realsense_node.h.

diagnostic_updater::Updater realsense2_camera::T265RealsenseNode::callback_updater
private

Definition at line 26 of file t265_realsense_node.h.


The documentation for this class was generated from the following files:


realsense2_camera
Author(s): Sergey Dorodnicov , Doron Hirshberg
autogenerated on Fri Feb 19 2021 03:32:17