Class Converter

Defined in File converter.hpp

Inheritance Relationships

Base Type

public off_highway_premium_radar::Receiver (Class Receiver)

Derived Type

public off_highway_premium_radar::DefaultConverter (Class DefaultConverter)

Class Documentation

class Converter : public off_highway_premium_radar::Receiver 

Converter interface to receive and send sensor data.

Subclassed by off_highway_premium_radar::DefaultConverter

Public Types

using SharedPtr = std::shared_ptr<Converter>

Public Functions

inline virtual void configure(rclcpp::Node::WeakPtr parent, Sender::SharedPtr sender): Configure converter with parent node and sender interface.

virtual void on_configure() = 0: Callback that is called in configure.

Protected Functions

inline rclcpp::Time decide_on_stamp(uint32_t sensor_sec, uint32_t sensor_nanosec)

Decide to use sensor or ROS time stamp and get it.

Sensor time may not be compatible since ROS uses int32 as type for the seconds in its time message while the sensor uses uint32. This method falls back to ROS time in an incompatible case.

Parameters:

sensor_sec – Sensor seconds
sensor_nanosec – Sensor nanoseconds

Returns:

Timestamp to use

Protected Attributes

rclcpp::Node::WeakPtr parent_: Parent node.

Sender::SharedPtr sender_: Sender interface to send data to sensor.

rclcpp::Clock::SharedPtr clock_: Clock to use.

rclcpp::Logger logger_ = {rclcpp::get_logger("Converter")}: Logger to use.

std::string frame_id_ = {"base_link"}: Frame ID for messages.

bool use_sensor_time_ = {false}: Stamp messages with time from sensor if possible for message or with ROS time.