Class RobosenseDriver

• Defined in File robosense_driver.hpp

Inheritance Relationships

Base Type

• private nebula::drivers::NebulaDriverBase

Class Documentation

class RobosenseDriver : private nebula::drivers::NebulaDriverBase

Robosense driver.

Public Functions

RobosenseDriver() = delete

explicit RobosenseDriver(const std::shared_ptr<const drivers::RobosenseSensorConfiguration> &sensor_configuration, const std::shared_ptr<const drivers::RobosenseCalibrationConfiguration> &calibration_configuration)

Constructor.

Parameters:

• sensor_configuration – SensorConfiguration for this driver

• calibration_configuration – CalibrationConfiguration for this driver

Status get_status()

Get current status of this driver.

Returns:

Current status

virtual Status set_calibration_configuration(const CalibrationConfigurationBase &calibration_configuration) override

Setting CalibrationConfiguration (not used)

Parameters:

calibration_configuration –

Returns:

Resulting status

std::tuple<drivers::NebulaPointCloudPtr, double> parse_cloud_packet(const std::vector<uint8_t> &packet)

Convert RobosenseScan message to point cloud.

Parameters:

robosense_scan – Message

Returns:

tuple of Point cloud and timestamp