ROS Node that continuously publishes scan data of a single PSENscan laser scanner. More...

#include <ros_scanner_node.h>

Public Member Functions
	ROSScannerNodeT (ros::NodeHandle &nh, const std::string &topic, const std::string &tf_prefix, const double &x_axis_rotation, const ScannerConfiguration &scanner_config)
	Constructor. More...

void	run ()
	Continuously fetches data from the scanner and publishes the data into the ROS network. More...

void	terminate ()
	Terminates the fetching and publishing of scanner data. More...

Private Types
using	ScannerId = psen_scan_v2_standalone::configuration::ScannerId

Private Member Functions
	FRIEND_TEST (RosScannerNodeTests, shouldLogChangedIOStates)

	FRIEND_TEST (RosScannerNodeTests, shouldProvideActiveZonesetTopic)

	FRIEND_TEST (RosScannerNodeTests, shouldProvideScanTopic)

	FRIEND_TEST (RosScannerNodeTests, shouldPublishActiveZonesetWhenLaserScanCallbackIsInvoked)

	FRIEND_TEST (RosScannerNodeTests, shouldPublishChangedIOStatesEqualToConversionOfSuppliedStandaloneIOStates)

	FRIEND_TEST (RosScannerNodeTests, shouldPublishLatchedOnIOStatesTopic)

	FRIEND_TEST (RosScannerNodeTests, shouldPublishScanEqualToConversionOfSuppliedLaserScan)

	FRIEND_TEST (RosScannerNodeTests, shouldPublishScansWhenLaserScanCallbackIsInvoked)

	FRIEND_TEST (RosScannerNodeTests, shouldStartAndStopSuccessfullyIfScannerRespondsToRequests)

	FRIEND_TEST (RosScannerNodeTests, shouldThrowExceptionSetInScannerStartFuture)

	FRIEND_TEST (RosScannerNodeTests, shouldThrowExceptionSetInScannerStopFuture)

	FRIEND_TEST (RosScannerNodeTests, shouldWaitWhenStopRequestResponseIsMissing)

void	laserScanCallback (const LaserScan &scan)

void	publishChangedIOStates (const std::vector< psen_scan_v2_standalone::IOState > &io_states)

Private Attributes
psen_scan_v2_standalone::IOState	last_io_state_ {}

ros::NodeHandle	nh_

ros::Publisher	pub_io_

ros::Publisher	pub_zone_

std::unordered_map< ScannerId, ros::Publisher >	pubs_scan_

S	scanner_

std::atomic_bool	terminate_ { false }

std::unordered_map< ScannerId, std::string >	tf_prefixes_

double	x_axis_rotation_

Friends
class	RosScannerNodeTests

Detailed Description

template<typename S = ScannerV2>
class psen_scan_v2::ROSScannerNodeT< S >

ROS Node that continuously publishes scan data of a single PSENscan laser scanner.

Definition at line 55 of file ros_scanner_node.h.

Member Typedef Documentation

◆ ScannerId

template<typename S = ScannerV2>

using psen_scan_v2::ROSScannerNodeT< S >::ScannerId = psen_scan_v2_standalone::configuration::ScannerId

private

Definition at line 87 of file ros_scanner_node.h.

Constructor & Destructor Documentation

◆ ROSScannerNodeT()

template<typename S >

psen_scan_v2::ROSScannerNodeT< S >::ROSScannerNodeT	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		const std::string &	tf_prefix,
		const double &	x_axis_rotation,
		const ScannerConfiguration &	scanner_config
	)

Constructor.

Parameters

nh	Node handle for the ROS node on which the scanner topic is advertised.
topic	Name of the ROS topic under which the scanner data are published.
tf_prefix	Prefix for the frame ids.
x_axis_rotation	Rotation of 2D scan around the z-axis.
scanner_config	Scanner configuration.

Definition at line 116 of file ros_scanner_node.h.

Member Function Documentation

◆ FRIEND_TEST() [1/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldLogChangedIOStates
	)

private

◆ FRIEND_TEST() [2/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldProvideActiveZonesetTopic
	)

private

◆ FRIEND_TEST() [3/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldProvideScanTopic
	)

private

◆ FRIEND_TEST() [4/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldPublishActiveZonesetWhenLaserScanCallbackIsInvoked
	)

private

◆ FRIEND_TEST() [5/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldPublishChangedIOStatesEqualToConversionOfSuppliedStandaloneIOStates
	)

private

◆ FRIEND_TEST() [6/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldPublishLatchedOnIOStatesTopic
	)

private

◆ FRIEND_TEST() [7/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldPublishScanEqualToConversionOfSuppliedLaserScan
	)

private

◆ FRIEND_TEST() [8/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldPublishScansWhenLaserScanCallbackIsInvoked
	)

private

◆ FRIEND_TEST() [9/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldStartAndStopSuccessfullyIfScannerRespondsToRequests
	)

private

◆ FRIEND_TEST() [10/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldThrowExceptionSetInScannerStartFuture
	)

private

◆ FRIEND_TEST() [11/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldThrowExceptionSetInScannerStopFuture
	)

private

◆ FRIEND_TEST() [12/12]

template<typename S = ScannerV2>

psen_scan_v2::ROSScannerNodeT< S >::FRIEND_TEST	(	RosScannerNodeTests	,
		shouldWaitWhenStopRequestResponseIsMissing
	)

private

◆ laserScanCallback()

template<typename S >

void psen_scan_v2::ROSScannerNodeT< S >::laserScanCallback ( const LaserScan & scan )

private

Definition at line 141 of file ros_scanner_node.h.

◆ publishChangedIOStates()

template<typename S >

void psen_scan_v2::ROSScannerNodeT< S >::publishChangedIOStates ( const std::vector< psen_scan_v2_standalone::IOState > & io_states )

private

Definition at line 171 of file ros_scanner_node.h.

◆ run()

template<typename S >

void psen_scan_v2::ROSScannerNodeT< S >::run

Continuously fetches data from the scanner and publishes the data into the ROS network.

Exceptions

std::runtime_error if starting the scanner was not successful.

Definition at line 196 of file ros_scanner_node.h.

◆ terminate()

template<typename S >

void psen_scan_v2::ROSScannerNodeT< S >::terminate

Terminates the fetching and publishing of scanner data.

Definition at line 190 of file ros_scanner_node.h.

Friends And Related Function Documentation

◆ RosScannerNodeTests

template<typename S = ScannerV2>

friend class RosScannerNodeTests

friend

Definition at line 98 of file ros_scanner_node.h.

Member Data Documentation

◆ last_io_state_

template<typename S = ScannerV2>

psen_scan_v2_standalone::IOState psen_scan_v2::ROSScannerNodeT< S >::last_io_state_ {}

private

Definition at line 96 of file ros_scanner_node.h.

◆ nh_

template<typename S = ScannerV2>

ros::NodeHandle psen_scan_v2::ROSScannerNodeT< S >::nh_

private

Definition at line 86 of file ros_scanner_node.h.

◆ pub_io_

template<typename S = ScannerV2>

ros::Publisher psen_scan_v2::ROSScannerNodeT< S >::pub_io_

private

Definition at line 90 of file ros_scanner_node.h.

◆ pub_zone_

template<typename S = ScannerV2>

ros::Publisher psen_scan_v2::ROSScannerNodeT< S >::pub_zone_

private

Definition at line 89 of file ros_scanner_node.h.

◆ pubs_scan_

template<typename S = ScannerV2>

std::unordered_map<ScannerId, ros::Publisher> psen_scan_v2::ROSScannerNodeT< S >::pubs_scan_

private

Definition at line 88 of file ros_scanner_node.h.

◆ scanner_

template<typename S = ScannerV2>

S psen_scan_v2::ROSScannerNodeT< S >::scanner_

private

Definition at line 93 of file ros_scanner_node.h.

◆ terminate_

template<typename S = ScannerV2>

std::atomic_bool psen_scan_v2::ROSScannerNodeT< S >::terminate_ { false }

private

Definition at line 94 of file ros_scanner_node.h.

◆ tf_prefixes_

template<typename S = ScannerV2>

std::unordered_map<ScannerId, std::string> psen_scan_v2::ROSScannerNodeT< S >::tf_prefixes_

private

Definition at line 91 of file ros_scanner_node.h.

◆ x_axis_rotation_

template<typename S = ScannerV2>

double psen_scan_v2::ROSScannerNodeT< S >::x_axis_rotation_

private

Definition at line 92 of file ros_scanner_node.h.

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

ros_scanner_node.h

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Detailed Description

template<typename S = ScannerV2> class psen_scan_v2::ROSScannerNodeT< S >

Member Typedef Documentation

◆ ScannerId

Constructor & Destructor Documentation

◆ ROSScannerNodeT()

Member Function Documentation

◆ FRIEND_TEST() [1/12]

◆ FRIEND_TEST() [2/12]

◆ FRIEND_TEST() [3/12]

◆ FRIEND_TEST() [4/12]

◆ FRIEND_TEST() [5/12]

◆ FRIEND_TEST() [6/12]

◆ FRIEND_TEST() [7/12]

◆ FRIEND_TEST() [8/12]

◆ FRIEND_TEST() [9/12]

◆ FRIEND_TEST() [10/12]

◆ FRIEND_TEST() [11/12]

◆ FRIEND_TEST() [12/12]

◆ laserScanCallback()

◆ publishChangedIOStates()

◆ run()

◆ terminate()

Friends And Related Function Documentation

◆ RosScannerNodeTests

Member Data Documentation

◆ last_io_state_

◆ nh_

◆ pub_io_

◆ pub_zone_

◆ pubs_scan_

◆ scanner_

◆ terminate_

◆ tf_prefixes_

◆ x_axis_rotation_

template<typename S = ScannerV2>
class psen_scan_v2::ROSScannerNodeT< S >