Class UniversalAzimuthSubscriber

Inheritance Relationships

Base Types

  • public message_filters::SimpleFilter< compass_interfaces::msg::Azimuth >

  • public message_filters::SubscriberBase

Class Documentation

class UniversalAzimuthSubscriber : public message_filters::SimpleFilter<compass_interfaces::msg::Azimuth>, public message_filters::SubscriberBase

message_filters subscriber that can subscribe to various topic types and convert them all to an Azimuth message.

Currently supported types are: compass_interfaces::msg::Azimuth, geometry_msgs::msg::PoseWithCovarianceStamped, geometry_msgs::msg::QuaternionStamped, sensor_msgs::msg::Imu.

Public Types

using NodeClockInterface = rclcpp::node_interfaces::NodeClockInterface
using NodeGraphInterface = rclcpp::node_interfaces::NodeGraphInterface
using NodeLoggingInterface = rclcpp::node_interfaces::NodeLoggingInterface
using NodeParametersInterface = rclcpp::node_interfaces::NodeParametersInterface
using NodeTopicsInterface = rclcpp::node_interfaces::NodeTopicsInterface
using RequiredInterfaces = rclcpp::node_interfaces::NodeInterfaces<NodeClockInterface, NodeGraphInterface, NodeLoggingInterface, NodeParametersInterface, NodeTopicsInterface>
typedef message_filters::MessageEvent<compass_interfaces::msg::Azimuth const> AzimuthEventType
typedef message_filters::MessageEvent<geometry_msgs::msg::PoseWithCovarianceStamped const> PoseEventType
typedef message_filters::MessageEvent<geometry_msgs::msg::QuaternionStamped const> QuatEventType
typedef message_filters::MessageEvent<sensor_msgs::msg::Imu const> ImuEventType
typedef message_filters::MessageEvent<rclcpp::SerializedMessage const> SerializedEventType
using Az = compass_interfaces::msg::Azimuth
using Unit = compass_interfaces::msg::Azimuth::_unit_type
using Orientation = compass_interfaces::msg::Azimuth::_orientation_type
using Reference = compass_interfaces::msg::Azimuth::_reference_type
using Variance = compass_interfaces::msg::Azimuth::_variance_type

Public Functions

UniversalAzimuthSubscriber(rclcpp::Node *node, const std::string &topic, rmw_qos_profile_t qos = rmw_qos_profile_default, rclcpp::SubscriptionOptions subscribeOptions = {})

Constructor.

Parameters:

  • log – Logger.

  • nh – The ros::NodeHandle to use for subscribing.

  • topic – The topic to subscribe to.

  • queueSize – Queue size of the subscription.

inline UniversalAzimuthSubscriber(rclcpp::Node *node, const std::string &topic, rclcpp::QoS qos = {10}, rclcpp::SubscriptionOptions subscribeOptions = {})
~UniversalAzimuthSubscriber() override
void subscribe(rclcpp::Node *node, const std::string &topic, rmw_qos_profile_t qos, rclcpp::SubscriptionOptions subscribeOptions) override
inline void subscribe(NodePtr node, const std::string &topic, const rmw_qos_profile_t qos) override
inline void subscribe(rclcpp::Node *node, const std::string &topic, const rmw_qos_profile_t qos) override
void subscribe() override

Re-subscribe to a topic.

void unsubscribe() override

Unsubscribe from the topic.

void setInputDefaults(const std::optional<Orientation> &orientation, const std::optional<Reference> &reference, const std::optional<Variance> &variance)

Set defaults for inputs which do not support autodetection of various azimuth properties.

Parameters:

  • orientation – [in] The default orientation used if it cannot be detected.

  • reference – [in] The reference used if it cannot be detected.

  • variance – [in] Default variance used for topics which cannot automatically discover it.

void configFromParams()

Configure the subscriber from ROS parameters.

Supported parameters:

  • ~input_orientation (str, ‘enu’ or ‘ned’, default: unspecified): ENU or NED orientation to be used to interpret input messages (in case orientation cannot be derived either from message contents or topic name).

  • ~input_reference (str, ‘magnetic’, ‘geographic’ or ‘UTM’, default: no change): North reference to be used to interpret input messages (in case reference cannot be derived either from message contents or topic name).

  • ~input_variance (double, optional, rad^2): If specified, this variance will be used in the output messages if variance cannot be determined from the input messages (e.g. for QuaternionStamped).

std::string getTopic() const

Get the name of the subscribed topic.

Returns:

The topic name.

inline const message_filters::Subscriber<compass_interfaces::msg::Azimuth> &getAzSubscriber() const

Returns the internal rclcpp::Subscription.

inline const message_filters::Subscriber<geometry_msgs::msg::PoseWithCovarianceStamped> &getPoseSubscriber() const
inline const message_filters::Subscriber<geometry_msgs::msg::QuaternionStamped> &getQuatSubscriber() const
inline const message_filters::Subscriber<sensor_msgs::msg::Imu> &getImuSubscriber() const
template<typename F>
inline void connectInput(F &f)

Protected Functions

void azCb(const AzimuthEventType &event)
void poseCb(const PoseEventType &event)
void quatCb(const QuatEventType &event)
void imuCb(const ImuEventType &event)
void serCb(const SerializedEventType &event)

Protected Attributes

message_filters::Subscriber<compass_interfaces::msg::Azimuth> azSub
message_filters::Subscriber<geometry_msgs::msg::PoseWithCovarianceStamped> poseSub
message_filters::Subscriber<geometry_msgs::msg::QuaternionStamped> quatSub
message_filters::Subscriber<sensor_msgs::msg::Imu> imuSub
message_filters::Subscriber<rclcpp::SerializedMessage> serSub
rclcpp::Node *node
CompassConverter converter

The azimuth message converter.

std::optional<Orientation> inputOrientation

Orientation of the input azimuth (in case it is a data type which does not tell orientation explicitly).

std::optional<Reference> inputReference

Reference of the input azimuth (in case it is a data type which does not tell reference explicitly).

std::optional<Variance> inputVariance

Variance of the input azimuth (in case it is a data type which does not tell reference explicitly).

std::string topic = {std::string()}
rclcpp::SubscriptionOptions options = {}
rmw_qos_profile_t qos = {rmw_qos_profile_default}