Public Member Functions | Private Member Functions | Private Attributes | List of all members
rosaic_node::ROSaicNode Class Reference

This class represents the ROsaic node, to be extended.. More...

#include <rosaic_node.hpp>

Inheritance diagram for rosaic_node::ROSaicNode:
Inheritance graph
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Public Member Functions

 ROSaicNode ()
 

Private Member Functions

bool getROSParams ()
 Gets the node parameters from the ROS Parameter Server, parts of which are specified in a YAML file. More...
 
void getRPY (const QuaternionMsg &qm, double &roll, double &pitch, double &yaw)
 Gets Euler angles from quaternion message. More...
 
void getTransform (const std::string &targetFrame, const std::string &sourceFrame, TransformStampedMsg &T_s_t)
 Gets transforms from tf2. More...
 
- Private Member Functions inherited from ROSaicNodeBase
Timestamp getTime ()
 Gets current timestamp. More...
 
bool getUint32Param (const std::string &name, uint32_t &val, uint32_t defaultVal)
 Gets an integer or unsigned integer value from the parameter server. More...
 
void log (LogLevel logLevel, const std::string &s)
 Log function to provide abstraction of ROS loggers. More...
 
template<typename T >
bool param (const std::string &name, T &val, const T &defaultVal)
 Gets parameter of type T from the parameter server. More...
 
template<typename M >
void publishMessage (const std::string &topic, const M &msg)
 Publishing function. More...
 
void publishTf (const LocalizationUtmMsg &loc)
 Publishing function for tf. More...
 
 ROSaicNodeBase ()
 
virtual ~ROSaicNodeBase ()
 

Private Attributes

io_comm_rx::Comm_IO IO_
 Handles communication with the Rx. More...
 
Settings settings_
 Settings. More...
 
tf2_ros::Buffer tfBuffer_
 tf2 buffer and listener More...
 
std::unique_ptr< tf2_ros::TransformListenertfListener_
 
- Private Attributes inherited from ROSaicNodeBase
std::shared_ptr< ros::NodeHandlepNh_
 Node handle pointer. More...
 

Detailed Description

This class represents the ROsaic node, to be extended..

Definition at line 86 of file rosaic_node.hpp.

Constructor & Destructor Documentation

◆ ROSaicNode()

rosaic_node::ROSaicNode::ROSaicNode ( )

The constructor initializes and runs the ROSaic node, if everything works fine. It loads the user-defined ROS parameters, subscribes to Rx messages, and publishes requested ROS messages...

Definition at line 42 of file rosaic_node.cpp.

Member Function Documentation

◆ getROSParams()

bool rosaic_node::ROSaicNode::getROSParams ( )
private

Gets the node parameters from the ROS Parameter Server, parts of which are specified in a YAML file.

The other ROSaic parameters are specified via the command line.

Definition at line 79 of file rosaic_node.cpp.

◆ getRPY()

void rosaic_node::ROSaicNode::getRPY ( const QuaternionMsg qm,
double &  roll,
double &  pitch,
double &  yaw 
)
private

Gets Euler angles from quaternion message.

Parameters
[in]qmquaternion message
[out]rollroll angle
[out]pitchpitch angle
[out]yawyaw angle

Definition at line 388 of file rosaic_node.cpp.

◆ getTransform()

void rosaic_node::ROSaicNode::getTransform ( const std::string &  targetFrame,
const std::string &  sourceFrame,
TransformStampedMsg T_s_t 
)
private

Gets transforms from tf2.

Parameters
[in]targetFrametraget frame id
[in]sourceFramesource frame id
[out]T_s_ttransfrom from source to target

Definition at line 369 of file rosaic_node.cpp.

Member Data Documentation

◆ IO_

io_comm_rx::Comm_IO rosaic_node::ROSaicNode::IO_
private

Handles communication with the Rx.

Definition at line 121 of file rosaic_node.hpp.

◆ settings_

Settings rosaic_node::ROSaicNode::settings_
private

Settings.

Definition at line 119 of file rosaic_node.hpp.

◆ tfBuffer_

tf2_ros::Buffer rosaic_node::ROSaicNode::tfBuffer_
private

tf2 buffer and listener

Definition at line 123 of file rosaic_node.hpp.

◆ tfListener_

std::unique_ptr<tf2_ros::TransformListener> rosaic_node::ROSaicNode::tfListener_
private

Definition at line 124 of file rosaic_node.hpp.


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


septentrio_gnss_driver
Author(s): Tibor Dome
autogenerated on Tue May 17 2022 02:10:01