#include <lddc.h>

Public Member Functions
void	CreateBagFile (const std::string &file_name)

void	DistributeLidarData (void)

uint8_t	GetTransferFormat (void)

uint8_t	IsMultiTopic (void)

	Lddc (int format, int multi_topic, int data_src, int output_type, double frq, std::string &frame_id, bool lidar_bag, bool imu_bag)

void	PrepareExit (void)

int	RegisterLds (Lds *lds)

void	SetPublishFrq (uint32_t frq)

void	SetRosNode (ros::NodeHandle *node)

void	SetRosPub (ros::Publisher *pub)

	~Lddc ()

Public Attributes
Lds *	lds_

Private Member Functions
void	FillPointsToCustomMsg (livox_ros_driver::CustomMsg &livox_msg, LivoxPointXyzrtl *src_point, uint32_t num, uint32_t offset_time, uint32_t point_interval, uint32_t echo_num)

void	FillPointsToPclMsg (PointCloud::Ptr &pcl_msg, LivoxPointXyzrtl *src_point, uint32_t num)

ros::Publisher *	GetCurrentImuPublisher (uint8_t handle)

ros::Publisher *	GetCurrentPublisher (uint8_t handle)

int32_t	GetPublishStartTime (LidarDevice lidar, LidarDataQueue queue, uint64_t start_time, StoragePacket storage_packet)

void	InitPointcloud2MsgHeader (sensor_msgs::PointCloud2 &cloud)

void	PollingLidarImuData (uint8_t handle, LidarDevice *lidar)

void	PollingLidarPointCloudData (uint8_t handle, LidarDevice *lidar)

uint32_t	PublishCustomPointcloud (LidarDataQueue *queue, uint32_t packet_num, uint8_t handle)

uint32_t	PublishImuData (LidarDataQueue *queue, uint32_t packet_num, uint8_t handle)

uint32_t	PublishPointcloud2 (LidarDataQueue *queue, uint32_t packet_num, uint8_t handle)

uint32_t	PublishPointcloudData (LidarDataQueue *queue, uint32_t packet_num, uint8_t handle)

Private Attributes
rosbag::Bag *	bag_

ros::NodeHandle *	cur_node_

uint8_t	data_src_

bool	enable_imu_bag_

bool	enable_lidar_bag_

std::string	frame_id_

ros::Publisher *	global_imu_pub_

ros::Publisher *	global_pub_

uint8_t	output_type_

ros::Publisher *	private_imu_pub_ [kMaxSourceLidar]

ros::Publisher *	private_pub_ [kMaxSourceLidar]

double	publish_frq_

uint32_t	publish_period_ns_

uint8_t	transfer_format_

uint8_t	use_multi_topic_

Detailed Description

Definition at line 47 of file lddc.h.

Constructor & Destructor Documentation

livox_ros::Lddc::Lddc	(	int	format,
		int	multi_topic,
		int	data_src,
		int	output_type,
		double	frq,
		std::string &	frame_id,
		bool	lidar_bag,
		bool	imu_bag
	)

Lidar Data Distribute Control-----------------------------------------—

Definition at line 45 of file lddc.cpp.

livox_ros::Lddc::~Lddc ( )

Definition at line 65 of file lddc.cpp.

Member Function Documentation

void livox_ros::Lddc::CreateBagFile ( const std::string & file_name )

Definition at line 673 of file lddc.cpp.

void livox_ros::Lddc::DistributeLidarData ( void )

Definition at line 569 of file lddc.cpp.

void livox_ros::Lddc::FillPointsToCustomMsg	(	livox_ros_driver::CustomMsg &	livox_msg,
		LivoxPointXyzrtl *	src_point,
		uint32_t	num,
		uint32_t	offset_time,
		uint32_t	point_interval,
		uint32_t	echo_num
	)

private

dual return mode

Definition at line 356 of file lddc.cpp.

void livox_ros::Lddc::FillPointsToPclMsg	(	PointCloud::Ptr &	pcl_msg,
		LivoxPointXyzrtl *	src_point,
		uint32_t	num
	)

private

Definition at line 255 of file lddc.cpp.

ros::Publisher * livox_ros::Lddc::GetCurrentImuPublisher ( uint8_t handle )

private

Definition at line 640 of file lddc.cpp.

ros::Publisher * livox_ros::Lddc::GetCurrentPublisher ( uint8_t handle )

private

Definition at line 591 of file lddc.cpp.

int32_t livox_ros::Lddc::GetPublishStartTime	(	LidarDevice *	lidar,
		LidarDataQueue *	queue,
		uint64_t *	start_time,
		StoragePacket *	storage_packet
	)

private

Get start time, down to the period boundary

Skip some packets up to the period boundary

Flip to another period

Definition at line 91 of file lddc.cpp.

uint8_t livox_ros::Lddc::GetTransferFormat ( void )

inline

Definition at line 58 of file lddc.h.

void livox_ros::Lddc::InitPointcloud2MsgHeader ( sensor_msgs::PointCloud2 & cloud )

private

Definition at line 132 of file lddc.cpp.

uint8_t livox_ros::Lddc::IsMultiTopic ( void )

inline

Definition at line 59 of file lddc.h.

void livox_ros::Lddc::PollingLidarImuData	(	uint8_t	handle,
		LidarDevice *	lidar
	)

private

Definition at line 558 of file lddc.cpp.

void livox_ros::Lddc::PollingLidarPointCloudData	(	uint8_t	handle,
		LidarDevice *	lidar
	)

private

Definition at line 535 of file lddc.cpp.

void livox_ros::Lddc::PrepareExit ( void )

Definition at line 681 of file lddc.cpp.

uint32_t livox_ros::Lddc::PublishCustomPointcloud	(	LidarDataQueue *	queue,
		uint32_t	packet_num,
		uint8_t	handle
	)

private

uint:ns

first packet

convert to ros time stamp

Definition at line 378 of file lddc.cpp.

uint32_t livox_ros::Lddc::PublishImuData	(	LidarDataQueue *	queue,
		uint32_t	packet_num,
		uint8_t	handle
	)

private

Definition at line 481 of file lddc.cpp.

uint32_t livox_ros::Lddc::PublishPointcloud2	(	LidarDataQueue *	queue,
		uint32_t	packet_num,
		uint8_t	handle
	)

private

Use the first packet timestamp as pointcloud2 msg timestamp

Skip the packet

Adjust to the real size

Definition at line 164 of file lddc.cpp.

uint32_t livox_ros::Lddc::PublishPointcloudData	(	LidarDataQueue *	queue,
		uint32_t	packet_num,
		uint8_t	handle
	)

private

Definition at line 270 of file lddc.cpp.

int livox_ros::Lddc::RegisterLds ( Lds * lds )

Definition at line 526 of file lddc.cpp.

void livox_ros::Lddc::SetPublishFrq ( uint32_t frq )

inline

Definition at line 63 of file lddc.h.

void livox_ros::Lddc::SetRosNode ( ros::NodeHandle * node )

inline

Definition at line 60 of file lddc.h.

void livox_ros::Lddc::SetRosPub ( ros::Publisher * pub )

inline

Definition at line 62 of file lddc.h.

Member Data Documentation

rosbag::Bag* livox_ros::Lddc::bag_

private

Definition at line 105 of file lddc.h.

ros::NodeHandle* livox_ros::Lddc::cur_node_

private

Definition at line 104 of file lddc.h.

uint8_t livox_ros::Lddc::data_src_

private

Definition at line 92 of file lddc.h.

bool livox_ros::Lddc::enable_imu_bag_

private

Definition at line 98 of file lddc.h.

bool livox_ros::Lddc::enable_lidar_bag_

private

Definition at line 97 of file lddc.h.

std::string livox_ros::Lddc::frame_id_

private

Definition at line 96 of file lddc.h.

ros::Publisher* livox_ros::Lddc::global_imu_pub_

private

Definition at line 102 of file lddc.h.

ros::Publisher* livox_ros::Lddc::global_pub_

private

Definition at line 100 of file lddc.h.

Lds* livox_ros::Lddc::lds_

Definition at line 65 of file lddc.h.

uint8_t livox_ros::Lddc::output_type_

private

Definition at line 93 of file lddc.h.

ros::Publisher* livox_ros::Lddc::private_imu_pub_[kMaxSourceLidar]

private

Definition at line 101 of file lddc.h.

ros::Publisher* livox_ros::Lddc::private_pub_[kMaxSourceLidar]

private

Definition at line 99 of file lddc.h.

double livox_ros::Lddc::publish_frq_

private

Definition at line 94 of file lddc.h.

uint32_t livox_ros::Lddc::publish_period_ns_

private

Definition at line 95 of file lddc.h.

uint8_t livox_ros::Lddc::transfer_format_

private

Definition at line 90 of file lddc.h.

uint8_t livox_ros::Lddc::use_multi_topic_

private

Definition at line 91 of file lddc.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation