Class CoinD4BaseHandler

Inheritance Relationships

Derived Types

Class Documentation

class CoinD4BaseHandler

Subclassed by robotis::coin_d4::CoinD4LifecycleHandler, robotis::coin_d4::CoinD4NodeHandler

Public Functions

CoinD4BaseHandler(const std::string parameter_prefix, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &logging_interface, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &params_interface)
virtual ~CoinD4BaseHandler()
void activate_grab_thread()
void deactivate_grab_thread()
void activate_publish_thread()
void deactivate_publish_thread()

Protected Functions

virtual rclcpp::Time get_node_time() = 0
virtual void make_scan_publisher(const std::string &topic_name) = 0
virtual void publish_scan(std::unique_ptr<sensor_msgs::msg::LaserScan> &&scan_msg) = 0
virtual void activate_scan_publisher() = 0
virtual void deactivate_scan_publisher() = 0

Protected Attributes

rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface_
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr params_interface_
LidarGeneralInfo lidar_general_info_