realsense2_camera::T265RealsenseNode Class Reference

#include <t265_realsense_node.h>

Inheritance diagram for realsense2_camera::T265RealsenseNode:

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.

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

• t265_realsense_node.h
• t265_realsense_node.cpp