Class to publish ROS messages from the ALB. More...

#include <alb_publisher.h>

Public Member Functions
	AlbPublisher (ros::NodeHandle &nodeHandle)

void	publish (const Tlv::tlv_s *frame)
	Publish messages from the ALB frame. More...

Private Member Functions
void	broadcastAlbTransform (const geometry_msgs::Pose &pose)
	Broadcast the ALB fixed frame to sensor frame transform. More...

void	broadcastMapTransform (const geometry_msgs::Pose &pose)
	Broadcast the ALB map to fixed frame transform. More...

void	buildZones ()
	Build ALB zones when the processing starts. More...

void	initPublishers (ros::NodeHandle &nodeHandle)
	Initialize the ROS publishers. More...

void	initTransforms ()
	Initialize the transform frames. More...

void	publishAugmentedCloud (const Tlv::tlv_s *frame)
	Publish the augmented cloud message. More...

void	publishEgomotion (const Tlv::tlv_s *frame)
	Publish egomotion message. More...

void	publishOdometry (const Tlv::tlv_s *frame)
	Publish odometry message. More...

void	publishPointCloud (const Tlv::tlv_s *frame)
	Publish pointCloud message. More...

void	publishPose (const Tlv::tlv_s *frame)
	Publish pose message. More...

void	publishTimeReference (const Tlv::tlv_s *frame)
	Publish TimeReference message. More...

void	publishTrackedObjects (const Tlv::tlv_s *frame)
	Publish tracked objects message. More...

void	publishZones ()
	Publish the zones message. More...

void	updatePose (const Tlv::tlv_s *frame)
	Update current position as the last position. More...

void	updateTimeStamp (const Tlv::tlv_s *frame)
	Update used time stamp with the ALB time stamp. More...

Private Attributes
ros::Time	alb_time

ros::Publisher	augmented_cloud_publisher

std::string	base_frame_id

tf2::Transform	base_to_lidar_tf

geometry_msgs::Pose	current_pose

ros::Time	current_timestamp

ros::Publisher	egomotion_publisher

geometry_msgs::Pose	first_pose

std::string	fixed_frame_id

bool	get_first_pose = false

geometry_msgs::Pose	last_pose

ros::Time	last_timestamp

std::string	map_frame_id

nav_msgs::Odometry	odom_msg

ros::Publisher	odometry_publisher

ros::Publisher	point_cloud_publisher

bool	pose_found

ros::Publisher	pose_publisher

ros::Time	ros_time

std::string	sensor_frame_id

ros::Publisher	time_reference_publisher

ros::Publisher	tracked_objects_publisher

bool	transform_broadcaster

bool	use_alb_time

bool	use_base_frame

bool	use_colwise_order

outsight_alb_driver::Zones	zones_msg

ros::Publisher	zones_publisher

Detailed Description

Class to publish ROS messages from the ALB.

Definition at line 19 of file alb_publisher.h.

Constructor & Destructor Documentation

◆ AlbPublisher()

AlbPublisher::AlbPublisher ( ros::NodeHandle & nodeHandle )

Definition at line 30 of file alb_publisher.cpp.

Member Function Documentation

◆ broadcastAlbTransform()

void AlbPublisher::broadcastAlbTransform ( const geometry_msgs::Pose & pose )

private

Broadcast the ALB fixed frame to sensor frame transform.

Definition at line 446 of file alb_publisher.cpp.

◆ broadcastMapTransform()

void AlbPublisher::broadcastMapTransform ( const geometry_msgs::Pose & pose )

private

Broadcast the ALB map to fixed frame transform.

Definition at line 481 of file alb_publisher.cpp.

◆ buildZones()

void AlbPublisher::buildZones ( )

private

Build ALB zones when the processing starts.

Definition at line 140 of file alb_publisher.cpp.

◆ initPublishers()

void AlbPublisher::initPublishers ( ros::NodeHandle & nodeHandle )

private

Initialize the ROS publishers.

Definition at line 40 of file alb_publisher.cpp.

◆ initTransforms()

void AlbPublisher::initTransforms ( )

private

Initialize the transform frames.

Definition at line 106 of file alb_publisher.cpp.

◆ publish()

void AlbPublisher::publish ( const Tlv::tlv_s * frame )

Publish messages from the ALB frame.

Definition at line 163 of file alb_publisher.cpp.

◆ publishAugmentedCloud()

void AlbPublisher::publishAugmentedCloud ( const Tlv::tlv_s * frame )

private

Publish the augmented cloud message.

Definition at line 390 of file alb_publisher.cpp.

◆ publishEgomotion()

void AlbPublisher::publishEgomotion ( const Tlv::tlv_s * frame )

private

Publish egomotion message.

Definition at line 357 of file alb_publisher.cpp.

◆ publishOdometry()

void AlbPublisher::publishOdometry ( const Tlv::tlv_s * frame )

private

Publish odometry message.

Definition at line 373 of file alb_publisher.cpp.

◆ publishPointCloud()

void AlbPublisher::publishPointCloud ( const Tlv::tlv_s * frame )

private

Publish pointCloud message.

Definition at line 242 of file alb_publisher.cpp.

◆ publishPose()

void AlbPublisher::publishPose ( const Tlv::tlv_s * frame )

private

Publish pose message.

Definition at line 286 of file alb_publisher.cpp.

◆ publishTimeReference()

void AlbPublisher::publishTimeReference ( const Tlv::tlv_s * frame )

private

Publish TimeReference message.

Definition at line 217 of file alb_publisher.cpp.

◆ publishTrackedObjects()

void AlbPublisher::publishTrackedObjects ( const Tlv::tlv_s * frame )

private

Publish tracked objects message.

Definition at line 299 of file alb_publisher.cpp.

◆ publishZones()

void AlbPublisher::publishZones ( )

private

Publish the zones message.

Definition at line 413 of file alb_publisher.cpp.

◆ updatePose()

void AlbPublisher::updatePose ( const Tlv::tlv_s * frame )

private

Update current position as the last position.

Definition at line 420 of file alb_publisher.cpp.

◆ updateTimeStamp()

void AlbPublisher::updateTimeStamp ( const Tlv::tlv_s * frame )

private

Update used time stamp with the ALB time stamp.

Definition at line 438 of file alb_publisher.cpp.

Member Data Documentation

◆ alb_time

ros::Time AlbPublisher::alb_time

private

Definition at line 88 of file alb_publisher.h.

◆ augmented_cloud_publisher

ros::Publisher AlbPublisher::augmented_cloud_publisher

private

Definition at line 101 of file alb_publisher.h.

◆ base_frame_id

std::string AlbPublisher::base_frame_id

private

Definition at line 75 of file alb_publisher.h.

◆ base_to_lidar_tf

tf2::Transform AlbPublisher::base_to_lidar_tf

private

Definition at line 104 of file alb_publisher.h.

◆ current_pose

geometry_msgs::Pose AlbPublisher::current_pose

private

Definition at line 80 of file alb_publisher.h.

◆ current_timestamp

ros::Time AlbPublisher::current_timestamp

private

Definition at line 90 of file alb_publisher.h.

◆ egomotion_publisher

ros::Publisher AlbPublisher::egomotion_publisher

private

Definition at line 99 of file alb_publisher.h.

◆ first_pose

geometry_msgs::Pose AlbPublisher::first_pose

private

Definition at line 81 of file alb_publisher.h.

◆ fixed_frame_id

std::string AlbPublisher::fixed_frame_id

private

Definition at line 74 of file alb_publisher.h.

◆ get_first_pose

bool AlbPublisher::get_first_pose = false

private

Definition at line 84 of file alb_publisher.h.

◆ last_pose

geometry_msgs::Pose AlbPublisher::last_pose

private

Definition at line 79 of file alb_publisher.h.

◆ last_timestamp

ros::Time AlbPublisher::last_timestamp

private

Definition at line 89 of file alb_publisher.h.

◆ map_frame_id

std::string AlbPublisher::map_frame_id

private

Definition at line 77 of file alb_publisher.h.

◆ odom_msg

nav_msgs::Odometry AlbPublisher::odom_msg

private

Definition at line 82 of file alb_publisher.h.

◆ odometry_publisher

ros::Publisher AlbPublisher::odometry_publisher

private

Definition at line 100 of file alb_publisher.h.

◆ point_cloud_publisher

ros::Publisher AlbPublisher::point_cloud_publisher

private

Definition at line 96 of file alb_publisher.h.

◆ pose_found

bool AlbPublisher::pose_found

private

Definition at line 83 of file alb_publisher.h.

◆ pose_publisher

ros::Publisher AlbPublisher::pose_publisher

private

Definition at line 97 of file alb_publisher.h.

◆ ros_time

ros::Time AlbPublisher::ros_time

private

Definition at line 87 of file alb_publisher.h.

◆ sensor_frame_id

std::string AlbPublisher::sensor_frame_id

private

Definition at line 76 of file alb_publisher.h.

◆ time_reference_publisher

ros::Publisher AlbPublisher::time_reference_publisher

private

Definition at line 95 of file alb_publisher.h.

◆ tracked_objects_publisher

ros::Publisher AlbPublisher::tracked_objects_publisher

private

Definition at line 98 of file alb_publisher.h.

◆ transform_broadcaster

bool AlbPublisher::transform_broadcaster

private

Definition at line 105 of file alb_publisher.h.

◆ use_alb_time

bool AlbPublisher::use_alb_time

private

Definition at line 91 of file alb_publisher.h.

◆ use_base_frame

bool AlbPublisher::use_base_frame

private

Definition at line 106 of file alb_publisher.h.

◆ use_colwise_order

bool AlbPublisher::use_colwise_order

private

Definition at line 93 of file alb_publisher.h.

◆ zones_msg

outsight_alb_driver::Zones AlbPublisher::zones_msg

private

Definition at line 85 of file alb_publisher.h.

◆ zones_publisher

ros::Publisher AlbPublisher::zones_publisher

private

Definition at line 102 of file alb_publisher.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AlbPublisher()

Member Function Documentation

◆ broadcastAlbTransform()

◆ broadcastMapTransform()

◆ buildZones()

◆ initPublishers()

◆ initTransforms()

◆ publish()

◆ publishAugmentedCloud()

◆ publishEgomotion()

◆ publishOdometry()

◆ publishPointCloud()

◆ publishPose()

◆ publishTimeReference()

◆ publishTrackedObjects()

◆ publishZones()

◆ updatePose()

◆ updateTimeStamp()

Member Data Documentation

◆ alb_time

◆ augmented_cloud_publisher

◆ base_frame_id

◆ base_to_lidar_tf

◆ current_pose

◆ current_timestamp

◆ egomotion_publisher

◆ first_pose

◆ fixed_frame_id

◆ get_first_pose

◆ last_pose

◆ last_timestamp

◆ map_frame_id

◆ odom_msg

◆ odometry_publisher

◆ point_cloud_publisher

◆ pose_found

◆ pose_publisher

◆ ros_time

◆ sensor_frame_id

◆ time_reference_publisher

◆ tracked_objects_publisher

◆ transform_broadcaster

◆ use_alb_time

◆ use_base_frame

◆ use_colwise_order

◆ zones_msg

◆ zones_publisher