velodyne_driver::InputPCAP Class Reference

Velodyne input from PCAP dump file. More...

#include <input.h>

Inheritance diagram for velodyne_driver::InputPCAP:

Public Member Functions
virtual int	getPacket (velodyne_msgs::VelodynePacket *pkt, const double time_offset)
	Get one velodyne packet. More...
	InputPCAP (ros::NodeHandle private_nh, uint16_t port=DATA_PORT_NUMBER, double packet_rate=0.0, std::string filename="", bool read_once=false, bool read_fast=false, double repeat_delay=0.0)
	constructor More...
void	setDeviceIP (const std::string &ip)
virtual	~InputPCAP ()
Public Member Functions inherited from velodyne_driver::Input
	Input (ros::NodeHandle private_nh, uint16_t port)
	constructor More...
virtual	~Input ()

Private Attributes
bool	empty_
char	errbuf_ [PCAP_ERRBUF_SIZE]
std::string	filename_
ros::Rate	packet_rate_
pcap_t *	pcap_
bpf_program	pcap_packet_filter_
bool	read_fast_
bool	read_once_
double	repeat_delay_

Additional Inherited Members
Protected Attributes inherited from velodyne_driver::Input
std::string	devip_str_
bool	gps_time_
uint16_t	port_
ros::NodeHandle	private_nh_

Detailed Description

Velodyne input from PCAP dump file.

Dump files can be grabbed by libpcap, Velodyne's DSR software, ethereal, wireshark, tcpdump, or the Vdump Command.

Definition at line 119 of file input.h.

Constructor & Destructor Documentation

velodyne_driver::InputPCAP::InputPCAP	(	ros::NodeHandle	private_nh,
		uint16_t	port = DATA_PORT_NUMBER,
		double	packet_rate = 0.0,
		std::string	filename = "",
		bool	read_once = false,
		bool	read_fast = false,
		double	repeat_delay = 0.0
	)

constructor

Parameters

private_nh	ROS private handle for calling node.
port	UDP port number
packet_rate	expected device packet frequency (Hz)
filename	PCAP dump file name

Definition at line 251 of file input.cc.

velodyne_driver::InputPCAP::~InputPCAP ( void  )

virtual

destructor

Definition at line 293 of file input.cc.

Member Function Documentation

int velodyne_driver::InputPCAP::getPacket ( velodyne_msgs::VelodynePacket *  pkt, const double  time_offset  )

virtual

Get one velodyne packet.

Implements velodyne_driver::Input.

Definition at line 299 of file input.cc.

void velodyne_driver::InputPCAP::setDeviceIP

(

const std::string &

ip

)

Member Data Documentation

bool velodyne_driver::InputPCAP::empty_

private

Definition at line 141 of file input.h.

char velodyne_driver::InputPCAP::errbuf_[PCAP_ERRBUF_SIZE]

private

Definition at line 140 of file input.h.

std::string velodyne_driver::InputPCAP::filename_

private

Definition at line 137 of file input.h.

ros::Rate velodyne_driver::InputPCAP::packet_rate_

private

Definition at line 136 of file input.h.

pcap_t* velodyne_driver::InputPCAP::pcap_

private

Definition at line 138 of file input.h.

bpf_program velodyne_driver::InputPCAP::pcap_packet_filter_

private

Definition at line 139 of file input.h.

bool velodyne_driver::InputPCAP::read_fast_

private

Definition at line 143 of file input.h.

bool velodyne_driver::InputPCAP::read_once_

private

Definition at line 142 of file input.h.

double velodyne_driver::InputPCAP::repeat_delay_

private

Definition at line 144 of file input.h.

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

• input.h
• input.cc