Class BaseRealSenseNode

• Defined in File base_realsense_node.h

Nested Relationships

Nested Types

• Class BaseRealSenseNode::CimuData

• Class BaseRealSenseNode::float3

Class Documentation

class BaseRealSenseNode

Public Types

enum class imu_sync_method

Values:

enumerator NONE

enumerator COPY

enumerator LINEAR_INTERPOLATION

using TriggeredCalibration = realsense2_camera_msgs::action::TriggeredCalibration

using GoalHandleTriggeredCalibration = rclcpp_action::ServerGoalHandle<TriggeredCalibration>

Public Functions

BaseRealSenseNode(RosNodeBase &node, rs2::device dev, std::shared_ptr<Parameters> parameters, bool use_intra_process = false)

~BaseRealSenseNode()

void publishTopics()

Protected Functions

void restartStaticTransformBroadcaster()

void publishExtrinsicsTopic(const stream_index_pair &sip, const rs2_extrinsics &ex)

void calcAndAppendTransformMsgs(const rs2::stream_profile &profile, const rs2::stream_profile &base_profile)

void handleHWReset(const std_srvs::srv::Empty::Request::SharedPtr req, const std_srvs::srv::Empty::Response::SharedPtr res)

void getDeviceInfo(const realsense2_camera_msgs::srv::DeviceInfo::Request::SharedPtr req, realsense2_camera_msgs::srv::DeviceInfo::Response::SharedPtr res)

void CalibConfigReadService(const realsense2_camera_msgs::srv::CalibConfigRead::Request::SharedPtr req, realsense2_camera_msgs::srv::CalibConfigRead::Response::SharedPtr res)

void CalibConfigWriteService(const realsense2_camera_msgs::srv::CalibConfigWrite::Request::SharedPtr req, realsense2_camera_msgs::srv::CalibConfigWrite::Response::SharedPtr res)

rclcpp_action::GoalResponse TriggeredCalibrationHandleGoal(const rclcpp_action::GoalUUID &uuid, std::shared_ptr<const TriggeredCalibration::Goal> goal)

rclcpp_action::CancelResponse TriggeredCalibrationHandleCancel(const std::shared_ptr<GoalHandleTriggeredCalibration> goal_handle)

void TriggeredCalibrationHandleAccepted(const std::shared_ptr<GoalHandleTriggeredCalibration> goal_handle)

void TriggeredCalibrationExecute(const std::shared_ptr<GoalHandleTriggeredCalibration> goal_handle)

tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) const

void append_static_tf_msg(const rclcpp::Time &t, const float3 &trans, const tf2::Quaternion &q, const std::string &from, const std::string &to)

void erase_static_tf_msg(const std::string &frame_id, const std::string &child_frame_id)

void eraseTransformMsgs(const stream_index_pair &sip, const rs2::stream_profile &profile)

void setup()

Protected Attributes

std::string _base_frame_id

bool _is_running

RosNodeBase &_node

std::string _camera_name

std::vector<rs2_option> _monitor_options

rclcpp::Logger _logger

rclcpp::Service<std_srvs::srv::Empty>::SharedPtr _reset_srv

rclcpp::Service<realsense2_camera_msgs::srv::DeviceInfo>::SharedPtr _device_info_srv

rclcpp::Service<realsense2_camera_msgs::srv::CalibConfigRead>::SharedPtr _calib_config_read_srv

rclcpp::Service<realsense2_camera_msgs::srv::CalibConfigWrite>::SharedPtr _calib_config_write_srv

rclcpp_action::Server<TriggeredCalibration>::SharedPtr _triggered_calibration_action_server

std::shared_ptr<Parameters> _parameters

std::list<std::string> _parameters_names

class float3

Public Functions

inline float3 &operator*=(const float &factor)

inline float3 &operator+=(const float3 &other)

Public Members

float x

float y

float z