Specific implementation for roboception::msgs::Dynamics messages. More...
#include <protobuf2ros_stream.h>
Public Member Functions | |
| DynamicsStream (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh, const std::string &frame_id_prefix, bool publishImu2CamAsTf) | |
 Public Member Functions inherited from rc::Protobuf2RosStream | |
| Protobuf2RosStream (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh, const std::string &frame_id_prefix) | |
| Public Member Functions inherited from rc::ThreadedStream | |
| void | join () |
| const std::string & | name () const |
| const std::atomic_bool & | requested () const |
| void | start () |
| void | stop () |
| const std::atomic_bool & | succeeded () const |
Protected Member Functions | |
| virtual bool | checkRosPublishersUsed () override |
| virtual void | initRosPublishers () override |
| virtual void | publishToRos (std::shared_ptr<::google::protobuf::Message > pbMsg) override |
| Protected Member Functions inherited from rc::Protobuf2RosStream | |
| virtual bool | startReceivingAndPublishingAsRos () override |
| Protected Member Functions inherited from rc::ThreadedStream | |
| ThreadedStream (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh) | |
| virtual void | work () |
Protected Attributes | |
| std::shared_ptr< ros::Publisher > | _pub_markers |
| std::shared_ptr< ros::Publisher > | _pub_odom |
| bool | _publishImu2CamAsTf |
| bool | _publishVisualizationMarkers |
| std::shared_ptr< tf::TransformBroadcaster > | _tf_pub |
| Protected Attributes inherited from rc::Protobuf2RosStream | |
| std::shared_ptr< Protobuf2RosPublisher > | _rosPublisher |
| const std::string | _tfPrefix |
| Protected Attributes inherited from rc::ThreadedStream | |
| Manager::Ptr | _manager |
| ros::NodeHandle | _nh |
| rc::dynamics::RemoteInterface::Ptr | _rcdyn |
| std::atomic_bool | _requested |
| std::atomic_bool | _stop |
| std::string | _stream |
| std::atomic_bool | _success |
| std::thread | _thread |
Additional Inherited Members | |
| Public Types inherited from rc::ThreadedStream | |
| typedef std::shared_ptr< ThreadedStream > | Ptr |
Detailed Description
Specific implementation for roboception::msgs::Dynamics messages.
It publishes the different field of the received message as several messages:
- pose -> PoseStamped (topic is the dynamics stream name)
- velocities and accelerations -> Marker-Arros (goes to pre-defined rviz-topic)
Definition at line 115 of file protobuf2ros_stream.h.
Constructor & Destructor Documentation
◆ DynamicsStream()
|
inline |
Definition at line 118 of file protobuf2ros_stream.h.
Member Function Documentation
◆ checkRosPublishersUsed()
|
overrideprotectedvirtual |
Reimplemented from rc::Protobuf2RosStream.
Definition at line 261 of file protobuf2ros_stream.cc.
◆ initRosPublishers()
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overrideprotectedvirtual |
Reimplemented from rc::Protobuf2RosStream.
Definition at line 239 of file protobuf2ros_stream.cc.
◆ publishToRos()
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overrideprotectedvirtual |
Reimplemented from rc::Protobuf2RosStream.
Definition at line 266 of file protobuf2ros_stream.cc.
Member Data Documentation
◆ _pub_markers
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protected |
Definition at line 138 of file protobuf2ros_stream.h.
◆ _pub_odom
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protected |
Definition at line 137 of file protobuf2ros_stream.h.
◆ _publishImu2CamAsTf
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protected |
Definition at line 140 of file protobuf2ros_stream.h.
◆ _publishVisualizationMarkers
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protected |
Definition at line 140 of file protobuf2ros_stream.h.
◆ _tf_pub
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protected |
Definition at line 139 of file protobuf2ros_stream.h.
The documentation for this class was generated from the following files: