ROSaicNodeBase Class Reference

This class is the base class for abstraction. More...

#include <typedefs.hpp>

Inheritance diagram for ROSaicNodeBase:

Public Member Functions
Timestamp	getTime () const
	Gets current timestamp. More...
Timestamp	getTime () const
	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...
bool	getUint32Param (const std::string &name, uint32_t &val, uint32_t defaultVal) const
	Gets an integer or unsigned integer value from the parameter server. More...
bool	hasHeading ()
	Check if Rx has heading. More...
bool	hasHeading ()
	Check if Rx has heading. More...
bool	hasImprovedVsmHandling ()
	Check if Rx has improved VSM handling. More...
bool	hasImprovedVsmHandling ()
	Check if Rx has improved VSM handling. More...
bool	isIns ()
	Check if Rx is INS. More...
bool	isIns ()
	Check if Rx is INS. More...
void	log (log_level::LogLevel logLevel, const std::string &s) const
	Log function to provide abstraction of ROS loggers. More...
void	log (log_level::LogLevel logLevel, const std::string &s) const
	Log function to provide abstraction of ROS loggers. More...
bool	ok ()
bool	ok ()
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 T >
bool	param (const std::string &name, T &val, const T &defaultVal) const
	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...
template<typename M >
void	publishMessage (const std::string &topic, const M &msg)
	Publishing function. More...
void	publishTf (const LocalizationMsg &loc)
	Publishing function for tf. More...
void	publishTf (const LocalizationMsg &loc)
	Publishing function for tf. More...
void	registerSubscriber ()
void	registerSubscriber ()
	ROSaicNodeBase ()
	ROSaicNodeBase (const rclcpp::NodeOptions &options)
void	setHasHeading ()
	Set has heading to true. More...
void	setHasHeading ()
	Set has heading to true. More...
void	setImprovedVsmHandling ()
	Set improved VSM handling to true. More...
void	setImprovedVsmHandling ()
	Set improved VSM handling to true. More...
void	setIsIns ()
	Set INS to true. More...
void	setIsIns ()
	Set INS to true. More...
const Settings *	settings () const
const Settings *	settings () const
	~ROSaicNodeBase ()
	~ROSaicNodeBase ()

Protected Member Functions
virtual void	sendVelocity (const std::string &velNmea)=0
	Send velocity to communication layer (virtual) More...
virtual void	sendVelocity (const std::string &velNmea)=0
	Send velocity to communication layer (virtual) More...

Protected Attributes
std::shared_ptr< ros::NodeHandle >	pNh_
	Node handle pointer. More...
Settings	settings_
	Settings. More...

Private Member Functions
void	callbackOdometry (const nav_msgs::msg::Odometry::ConstSharedPtr odo)
void	callbackOdometry (const nav_msgs::Odometry::ConstPtr &odo)
void	callbackTwist (const TwistWithCovarianceStampedMsg::ConstPtr &twist)
void	callbackTwist (const TwistWithCovarianceStampedMsg::ConstSharedPtr twist)
void	processTwist (Timestamp stamp, const geometry_msgs::msg::TwistWithCovariance &twist)
void	processTwist (Timestamp stamp, const geometry_msgs::TwistWithCovariance &twist)

Private Attributes
Capabilities	capabilities_
TimestampRos	lastTfStamp_
	Last tf stamp. More...
Timestamp	lastTfStamp_ = 0
	Last tf stamp. More...
ros::Subscriber	odometrySubscriber_
	Odometry subscriber. More...
rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	odometrySubscriber_
	Odometry subscriber. More...
uint32_t	queueSize_ = 1
	Publisher queue size. More...
tf2_ros::TransformBroadcaster	tf2Publisher_
	Transform publisher. More...
tf2_ros::Buffer	tfBuffer_
	tf buffer More...
tf2_ros::TransformListener	tfListener_
std::unordered_map< std::string, ros::Publisher >	topicMap_
	Map of topics and publishers. More...
std::unordered_map< std::string, std::any >	topicMap_
	Map of topics and publishers. More...
ros::Subscriber	twistSubscriber_
	Twist subscriber. More...
rclcpp::Subscription< TwistWithCovarianceStampedMsg >::SharedPtr	twistSubscriber_
	Twist subscriber. More...

Detailed Description

This class is the base class for abstraction.

Definition at line 192 of file typedefs.hpp.

Constructor & Destructor Documentation

ROSaicNodeBase() [1/2]

ROSaicNodeBase::ROSaicNodeBase ( const rclcpp::NodeOptions &  options )

inline

Definition at line 195 of file typedefs.hpp.

~ROSaicNodeBase() [1/2]

ROSaicNodeBase::~ROSaicNodeBase ( )

inline

Definition at line 201 of file typedefs.hpp.

ROSaicNodeBase() [2/2]

ROSaicNodeBase::ROSaicNodeBase ( )

inline

Definition at line 189 of file typedefs_ros1.hpp.

~ROSaicNodeBase() [2/2]

ROSaicNodeBase::~ROSaicNodeBase ( )

inline

Definition at line 195 of file typedefs_ros1.hpp.

Member Function Documentation

callbackOdometry() [1/2]

void ROSaicNodeBase::callbackOdometry ( const nav_msgs::msg::Odometry::ConstSharedPtr  odo )

inlineprivate

Definition at line 453 of file typedefs.hpp.

callbackOdometry() [2/2]

void ROSaicNodeBase::callbackOdometry ( const nav_msgs::Odometry::ConstPtr &  odo )

inlineprivate

Definition at line 418 of file typedefs_ros1.hpp.

callbackTwist() [1/2]

void ROSaicNodeBase::callbackTwist ( const TwistWithCovarianceStampedMsg::ConstPtr &  twist )

inlineprivate

Definition at line 425 of file typedefs_ros1.hpp.

callbackTwist() [2/2]

void ROSaicNodeBase::callbackTwist ( const TwistWithCovarianceStampedMsg::ConstSharedPtr  twist )

inlineprivate

Definition at line 460 of file typedefs.hpp.

getTime() [1/2]

Timestamp ROSaicNodeBase::getTime ( ) const

inline

Gets current timestamp.

Returns

Timestamp

Definition at line 290 of file typedefs_ros1.hpp.

getTime() [2/2]

Timestamp ROSaicNodeBase::getTime ( ) const

inline

Gets current timestamp.

Returns

Timestamp

Definition at line 314 of file typedefs.hpp.

getUint32Param() [1/2]

bool ROSaicNodeBase::getUint32Param ( const std::string &  name, uint32_t &  val, uint32_t  defaultVal  )

inline

Gets an integer or unsigned integer value from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type U, which can be either unsigned int or int
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Definition at line 244 of file typedefs.hpp.

getUint32Param() [2/2]

bool ROSaicNodeBase::getUint32Param ( const std::string &  name, uint32_t &  val, uint32_t  defaultVal  ) const

inline

Gets an integer or unsigned integer value from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type U, which can be either unsigned int or int
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Definition at line 229 of file typedefs_ros1.hpp.

hasHeading() [1/2]

bool ROSaicNodeBase::hasHeading ( )

inline

Check if Rx has heading.

Definition at line 410 of file typedefs_ros1.hpp.

hasHeading() [2/2]

bool ROSaicNodeBase::hasHeading ( )

inline

Check if Rx has heading.

Definition at line 445 of file typedefs.hpp.

hasImprovedVsmHandling() [1/2]

bool ROSaicNodeBase::hasImprovedVsmHandling ( )

inline

Check if Rx has improved VSM handling.

Definition at line 415 of file typedefs_ros1.hpp.

hasImprovedVsmHandling() [2/2]

bool ROSaicNodeBase::hasImprovedVsmHandling ( )

inline

Check if Rx has improved VSM handling.

Definition at line 450 of file typedefs.hpp.

isIns() [1/2]

bool ROSaicNodeBase::isIns ( )

inline

Check if Rx is INS.

Definition at line 405 of file typedefs_ros1.hpp.

isIns() [2/2]

bool ROSaicNodeBase::isIns ( )

inline

Check if Rx is INS.

Definition at line 440 of file typedefs.hpp.

log() [1/2]

void ROSaicNodeBase::log ( log_level::LogLevel  logLevel, const std::string &  s  ) const

inline

Log function to provide abstraction of ROS loggers.

Parameters

[in]	logLevel	Log level
[in]	s	String to log

Definition at line 262 of file typedefs_ros1.hpp.

log() [2/2]

void ROSaicNodeBase::log ( log_level::LogLevel  logLevel, const std::string &  s  ) const

inline

Log function to provide abstraction of ROS loggers.

Parameters

[in]	logLevel	Log level
[in]	s	String to log

Definition at line 286 of file typedefs.hpp.

ok() [1/2]

bool ROSaicNodeBase::ok ( )

inline

Definition at line 197 of file typedefs_ros1.hpp.

ok() [2/2]

bool ROSaicNodeBase::ok ( )

inline

Definition at line 203 of file typedefs.hpp.

param() [1/2]

template<typename T >

bool ROSaicNodeBase::param ( const std::string &  name, T &  val, const T &  defaultVal  )

inline

Gets parameter of type T from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type T
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Returns

True if it could be retrieved, false if not

Definition at line 265 of file typedefs.hpp.

param() [2/2]

template<typename T >

bool ROSaicNodeBase::param ( const std::string &  name, T &  val, const T &  defaultVal  ) const

inline

Gets parameter of type T from the parameter server.

Parameters

[in]	name	The key to be used in the parameter server's dictionary
[out]	val	Storage for the retrieved value, of type T
[in]	defaultVal	Value to use if the server doesn't contain this parameter

Returns

True if it could be retrieved, false if not

Definition at line 252 of file typedefs_ros1.hpp.

processTwist() [1/2]

void ROSaicNodeBase::processTwist ( Timestamp  stamp, const geometry_msgs::msg::TwistWithCovariance &  twist  )

inlineprivate

Definition at line 467 of file typedefs.hpp.

processTwist() [2/2]

void ROSaicNodeBase::processTwist ( Timestamp  stamp, const geometry_msgs::TwistWithCovariance &  twist  )

inlineprivate

Definition at line 432 of file typedefs_ros1.hpp.

publishMessage() [1/2]

template<typename M >

void ROSaicNodeBase::publishMessage ( const std::string &  topic, const M &  msg  )

inline

Publishing function.

Parameters

[in]	topic	String of topic
[in]	msg	ROS message to be published

Definition at line 298 of file typedefs_ros1.hpp.

publishMessage() [2/2]

template<typename M >

void ROSaicNodeBase::publishMessage ( const std::string &  topic, const M &  msg  )

inline

Publishing function.

Parameters

[in]	topic	String of topic
[in]	msg	ROS message to be published

Definition at line 322 of file typedefs.hpp.

publishTf() [1/2]

void ROSaicNodeBase::publishTf ( const LocalizationMsg &  loc )

inline

Publishing function for tf.

Parameters

[in]

msg

ROS localization message to be converted to tf

Definition at line 322 of file typedefs_ros1.hpp.

publishTf() [2/2]

void ROSaicNodeBase::publishTf ( const LocalizationMsg &  loc )

inline

Publishing function for tf.

Parameters

[in]

msg

ROS localization message to be converted to tf

Definition at line 355 of file typedefs.hpp.

registerSubscriber() [1/2]

void ROSaicNodeBase::registerSubscriber ( )

inline

Definition at line 201 of file typedefs_ros1.hpp.

registerSubscriber() [2/2]

void ROSaicNodeBase::registerSubscriber ( )

inline

Definition at line 207 of file typedefs.hpp.

sendVelocity() [1/2]

virtual void ROSaicNodeBase::sendVelocity ( const std::string &  velNmea )

protectedpure virtual

Send velocity to communication layer (virtual)

Implemented in rosaic_node::ROSaicNode, and rosaic_node::ROSaicNode.

sendVelocity() [2/2]

virtual void ROSaicNodeBase::sendVelocity ( const std::string &  velNmea )

protectedpure virtual

Send velocity to communication layer (virtual)

Implemented in rosaic_node::ROSaicNode, and rosaic_node::ROSaicNode.

setHasHeading() [1/2]

void ROSaicNodeBase::setHasHeading ( )

inline

Set has heading to true.

Definition at line 395 of file typedefs_ros1.hpp.

setHasHeading() [2/2]

void ROSaicNodeBase::setHasHeading ( )

inline

Set has heading to true.

Definition at line 430 of file typedefs.hpp.

setImprovedVsmHandling() [1/2]

void ROSaicNodeBase::setImprovedVsmHandling ( )

inline

Set improved VSM handling to true.

Definition at line 400 of file typedefs_ros1.hpp.

setImprovedVsmHandling() [2/2]

void ROSaicNodeBase::setImprovedVsmHandling ( )

inline

Set improved VSM handling to true.

Definition at line 435 of file typedefs.hpp.

setIsIns() [1/2]

void ROSaicNodeBase::setIsIns ( )

inline

Set INS to true.

Definition at line 390 of file typedefs_ros1.hpp.

setIsIns() [2/2]

void ROSaicNodeBase::setIsIns ( )

inline

Set INS to true.

Definition at line 425 of file typedefs.hpp.

settings() [1/2]

const Settings* ROSaicNodeBase::settings ( ) const

inline

Definition at line 199 of file typedefs_ros1.hpp.

settings() [2/2]

const Settings* ROSaicNodeBase::settings ( ) const

inline

Definition at line 205 of file typedefs.hpp.

Member Data Documentation

capabilities_

Capabilities ROSaicNodeBase::capabilities_

private

Definition at line 611 of file typedefs.hpp.

lastTfStamp_ [1/2]

TimestampRos ROSaicNodeBase::lastTfStamp_

private

Last tf stamp.

Definition at line 572 of file typedefs_ros1.hpp.

lastTfStamp_ [2/2]

Timestamp ROSaicNodeBase::lastTfStamp_ = 0

private

Last tf stamp.

Definition at line 605 of file typedefs.hpp.

odometrySubscriber_ [1/2]

ros::Subscriber ROSaicNodeBase::odometrySubscriber_

private

Odometry subscriber.

Definition at line 568 of file typedefs_ros1.hpp.

odometrySubscriber_ [2/2]

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr ROSaicNodeBase::odometrySubscriber_

private

Odometry subscriber.

Definition at line 601 of file typedefs.hpp.

pNh_

std::shared_ptr<ros::NodeHandle> ROSaicNodeBase::pNh_

protected

Node handle pointer.

Definition at line 554 of file typedefs_ros1.hpp.

queueSize_

uint32_t ROSaicNodeBase::queueSize_ = 1

private

Publisher queue size.

Definition at line 597 of file typedefs.hpp.

settings_

Settings ROSaicNodeBase::settings_

protected

Settings.

Definition at line 589 of file typedefs.hpp.

tf2Publisher_

tf2_ros::TransformBroadcaster ROSaicNodeBase::tf2Publisher_

private

Transform publisher.

Definition at line 599 of file typedefs.hpp.

tfBuffer_

tf2_ros::Buffer ROSaicNodeBase::tfBuffer_

private

tf buffer

Definition at line 607 of file typedefs.hpp.

tfListener_

tf2_ros::TransformListener ROSaicNodeBase::tfListener_

private

Definition at line 609 of file typedefs.hpp.

topicMap_ [1/2]

std::unordered_map<std::string, ros::Publisher> ROSaicNodeBase::topicMap_

private

Map of topics and publishers.

Definition at line 562 of file typedefs_ros1.hpp.

topicMap_ [2/2]

std::unordered_map<std::string, std::any> ROSaicNodeBase::topicMap_

private

Map of topics and publishers.

Definition at line 595 of file typedefs.hpp.

twistSubscriber_ [1/2]

ros::Subscriber ROSaicNodeBase::twistSubscriber_

private

Twist subscriber.

Definition at line 570 of file typedefs_ros1.hpp.

twistSubscriber_ [2/2]

rclcpp::Subscription<TwistWithCovarianceStampedMsg>::SharedPtr ROSaicNodeBase::twistSubscriber_

private

Twist subscriber.

Definition at line 603 of file typedefs.hpp.

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

• typedefs.hpp
• typedefs_ros1.hpp