Class OusterSensorNodeBase

Defined in File os_sensor_node_base.h

Inheritance Relationships

Base Type

public rclcpp_lifecycle::LifecycleNode

Class Documentation

class OusterSensorNodeBase : public rclcpp_lifecycle::LifecycleNode

Protected Functions

explicit OusterSensorNodeBase(const std::string &name, const rclcpp::NodeOptions &options)

inline bool is_arg_set(const std::string &arg) const

void create_get_metadata_service()

void create_metadata_pub()

void publish_metadata()

void display_lidar_info(const ouster::sensor::sensor_info &info)

template<typename CallbackT, typename ...CallbackT_Args> bool change_state(std::uint8_t transition_id, CallbackT callback, CallbackT_Args... callback_args, std::chrono::seconds time_out = std::chrono::seconds{3})

void execute_transitions_sequence(std::vector<uint8_t> transitions_sequence, size_t at)

Protected Attributes

std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState>> change_state_client

ouster::sensor::sensor_info info

rclcpp::Service<ouster_sensor_msgs::srv::GetMetadata>::SharedPtr get_metadata_srv

std::string cached_metadata

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr metadata_pub

Protected Static Functions

static std::string read_text_file(const std::string &text_file)

static bool write_text_to_file(const std::string &file_path, const std::string &text)

static std::string transition_id_to_string(uint8_t transition_id)