Class FunctionalSafetyBasic

Inheritance Relationships

Base Type

Class Documentation

class FunctionalSafetyBasic : public nebula::ros::FunctionalSafetyStatusProcessor

Forwards sensor error codes and LiDAR status to the diagnostic updater as-is.

Since error names and severities for many Hesai LiDARs are not published to the general public, this module only provides a single status, as reported by the sensor, along with a list of error codes.

Public Functions

inline virtual void populate_status(drivers::FunctionalSafetySeverity severity, const drivers::FunctionalSafetyErrorCodes &error_codes, diagnostic_msgs::msg::DiagnosticStatus &inout_status) override