Class PerceptionModule
Defined in File perception.hpp
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public rclcpp_lifecycle::LifecycleNode
Class Documentation
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class PerceptionModule : public rclcpp_lifecycle::LifecycleNode
Public Types
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using PerceptionStereoVisionSetup = psdk_interfaces::srv::PerceptionStereoVisionSetup
Public Functions
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explicit PerceptionModule(const std::string &name)
Construct a new PerceptionModule object.
- Parameters:
node_name – Name of the node
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~PerceptionModule()
Destroy the PerceptionModule object.
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CallbackReturn on_configure(const rclcpp_lifecycle::State &state)
Configures the PerceptionModule. Creates the ROS 2 subscribers and services.
- Parameters:
state – rclcpp_lifecycle::State. Current state of the node.
- Returns:
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_activate(const rclcpp_lifecycle::State &state)
Activates the PerceptionModule.
- Parameters:
state – rclcpp_lifecycle::State. Current state of the node.
- Returns:
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state)
Cleans the PerceptionModule. Resets the ROS 2 subscribers and services.
- Parameters:
state – rclcpp_lifecycle::State. Current state of the node.
- Returns:
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state)
Deactivates the PerceptionModule.
- Parameters:
state – rclcpp_lifecycle::State. Current state of the node.
- Returns:
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state)
Shuts down the PerceptionModule.
- Parameters:
state – rclcpp_lifecycle::State. Current state of the node.
- Returns:
CallbackReturn SUCCESS or FAILURE
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bool init()
Initialize the PerceptionModule.
- Returns:
true/false
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bool deinit()
Deinitialize the PerceptionModule.
- Returns:
true/false
Public Members
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PerceptionParams params_
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using PerceptionStereoVisionSetup = psdk_interfaces::srv::PerceptionStereoVisionSetup