Class Input

Defined in File input.hpp

Inheritance Relationships

Derived Types

public velodyne_driver::InputPCAP (Class InputPCAP)
public velodyne_driver::InputSocket (Class InputSocket)

Class Documentation

class Input

Velodyne input base class.

Subclassed by velodyne_driver::InputPCAP, velodyne_driver::InputSocket

Public Functions

explicit Input(rclcpp::Node *private_nh, const std::string &devip, uint16_t port)

inline virtual ~Input()

virtual int getPacket(velodyne_msgs::msg::VelodynePacket *pkt, const double time_offset) = 0

Read one Velodyne packet.

Parameters:: pkt – points to VelodynePacket message
Returns:: 0 if successful, -1 if end of file > 0 if incomplete packet (is this possible?)

Protected Attributes

rclcpp::Node *private_nh_

std::string devip_str_

uint16_t port_