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

#include <rosaic_node.hpp>

Inheritance diagram for rosaic_node::ROSaicNode:

Public Member Functions
	ROSaicNode ()

	ROSaicNode (const rclcpp::NodeOptions &options)

	~ROSaicNode ()

	~ROSaicNode ()

Public Member Functions inherited from ROSaicNodeBase
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 ()

Private Member Functions
bool	getROSParams ()
	Gets the node parameters from the ROS Parameter Server, parts of which are specified in a YAML file. More...

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) const
	Gets Euler angles from quaternion message. More...

void	getRPY (const QuaternionMsg &qm, double &roll, double &pitch, double &yaw) const
	Gets Euler angles from quaternion message. More...

void	getTransform (const std::string &targetFrame, const std::string &sourceFrame, TransformStampedMsg &T_s_t) const
	Gets transforms from tf2. More...

void	getTransform (const std::string &targetFrame, const std::string &sourceFrame, TransformStampedMsg &T_s_t) const
	Gets transforms from tf2. More...

void	sendVelocity (const std::string &velNmea)
	Send velocity to communication layer (virtual) More...

void	sendVelocity (const std::string &velNmea)
	Send velocity to communication layer (virtual) More...

void	setup ()

void	setup ()

bool	validPeriod (uint32_t period, bool isIns) const
	Checks if the period has a valid value. More...

bool	validPeriod (uint32_t period, bool isIns) const
	Checks if the period has a valid value. More...

Private Attributes
io::CommunicationCore	IO_
	Handles communication with the Rx. More...

std::thread	setupThread_

tf2_ros::Buffer	tfBuffer_
	tf2 buffer and listener More...

std::unique_ptr< tf2_ros::TransformListener >	tfListener_

Additional Inherited Members
Protected Attributes inherited from ROSaicNodeBase
std::shared_ptr< ros::NodeHandle >	pNh_
	Node handle pointer. More...

Settings	settings_
	Settings. More...

Detailed Description

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

Definition at line 83 of file rosaic_node.hpp.

Constructor & Destructor Documentation

◆ ROSaicNode() [1/2]

rosaic_node::ROSaicNode::ROSaicNode ( const rclcpp::NodeOptions & options )

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 43 of file rosaic_node.cpp.

◆ ~ROSaicNode() [1/2]

rosaic_node::ROSaicNode::~ROSaicNode ( )

Definition at line 72 of file rosaic_node.cpp.

◆ ROSaicNode() [2/2]

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 43 of file rosaic_node_ros1.cpp.

◆ ~ROSaicNode() [2/2]

rosaic_node::ROSaicNode::~ROSaicNode ( )

Member Function Documentation

◆ getROSParams() [1/2]

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 85 of file rosaic_node.cpp.

◆ getROSParams() [2/2]

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.

◆ getRPY() [1/2]

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

private

Gets Euler angles from quaternion message.

Parameters

[in]	qm	quaternion message
[out]	roll	roll angle
[out]	pitch	pitch angle
[out]	yaw	yaw angle

Definition at line 814 of file rosaic_node.cpp.

◆ getRPY() [2/2]

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

private

Gets Euler angles from quaternion message.

Parameters

[in]	qm	quaternion message
[out]	roll	roll angle
[out]	pitch	pitch angle
[out]	yaw	yaw angle

◆ getTransform() [1/2]

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

private

Gets transforms from tf2.

Parameters

[in]	targetFrame	traget frame id
[in]	sourceFrame	source frame id
[out]	T_s_t	transfrom from source to target

Definition at line 789 of file rosaic_node.cpp.

◆ getTransform() [2/2]

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

private

Gets transforms from tf2.

Parameters

[in]	targetFrame	traget frame id
[in]	sourceFrame	source frame id
[out]	T_s_t	transfrom from source to target

◆ sendVelocity() [1/2]

void rosaic_node::ROSaicNode::sendVelocity ( const std::string & velNmea )

privatevirtual

Send velocity to communication layer (virtual)

Implements ROSaicNodeBase.

Definition at line 825 of file rosaic_node.cpp.

◆ sendVelocity() [2/2]

void rosaic_node::ROSaicNode::sendVelocity ( const std::string & velNmea )

privatevirtual

Send velocity to communication layer (virtual)

Implements ROSaicNodeBase.

◆ setup() [1/2]

void rosaic_node::ROSaicNode::setup ( )

private

Definition at line 79 of file rosaic_node.cpp.

◆ setup() [2/2]

void rosaic_node::ROSaicNode::setup ( )

private

◆ validPeriod() [1/2]

bool rosaic_node::ROSaicNode::validPeriod	(	uint32_t	period,
		bool	isIns
	)		const

private

Checks if the period has a valid value.

Parameters

[in]	period	period [ms]
[in]	isIns	wether recevier is an INS

Returns: wether the period is valid

Definition at line 777 of file rosaic_node.cpp.

◆ validPeriod() [2/2]

bool rosaic_node::ROSaicNode::validPeriod	(	uint32_t	period,
		bool	isIns
	)		const

private

Checks if the period has a valid value.

Parameters

[in]	period	period [ms]
[in]	isIns	wether recevier is an INS

Returns: wether the period is valid

Member Data Documentation

◆ IO_

io::CommunicationCore rosaic_node::ROSaicNode::IO_

private

Handles communication with the Rx.

Definition at line 131 of file rosaic_node.hpp.

◆ setupThread_

std::thread rosaic_node::ROSaicNode::setupThread_

private

Definition at line 136 of file rosaic_node.hpp.

◆ tfBuffer_

tf2_ros::Buffer rosaic_node::ROSaicNode::tfBuffer_

private

tf2 buffer and listener

Definition at line 133 of file rosaic_node.hpp.

◆ tfListener_

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

private

Definition at line 134 of file rosaic_node.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ROSaicNode() [1/2]

◆ ~ROSaicNode() [1/2]

◆ ROSaicNode() [2/2]

◆ ~ROSaicNode() [2/2]

Member Function Documentation

◆ getROSParams() [1/2]

◆ getROSParams() [2/2]

◆ getRPY() [1/2]

◆ getRPY() [2/2]

◆ getTransform() [1/2]

◆ getTransform() [2/2]

◆ sendVelocity() [1/2]

◆ sendVelocity() [2/2]

◆ setup() [1/2]

◆ setup() [2/2]

◆ validPeriod() [1/2]

◆ validPeriod() [2/2]

Member Data Documentation

◆ IO_

◆ setupThread_

◆ tfBuffer_

◆ tfListener_