Template Class RobosenseInfoDecoder

• Defined in File robosense_info_decoder.hpp

Inheritance Relationships

Base Type

• public nebula::drivers::RobosenseInfoDecoderBase (Class RobosenseInfoDecoderBase)

Class Documentation

template<typename SensorT>
class RobosenseInfoDecoder : public nebula::drivers::RobosenseInfoDecoderBase

Public Functions

inline virtual bool parse_packet(const std::vector<uint8_t> &raw_packet) override

Validates and parses DIFOP packet. Currently only checks size, not checksums etc.

Parameters:

raw_packet – The incoming DIFOP packet

Returns:

Whether the packet was parsed successfully

inline RobosenseInfoDecoder()

Constructor.

inline virtual std::map<std::string, std::string> get_sensor_info() override

Get the sensor telemetry.

Returns:

The sensor telemetry

inline virtual ReturnMode get_return_mode() override

Get the laser return mode.

Returns:

The laser return mode

inline virtual RobosenseCalibrationConfiguration get_sensor_calibration() override

Get sensor calibration.

Returns:

The sensor calibration

inline virtual bool get_sync_status() override

Get the status of time synchronization.

Returns:

True if the sensor’s clock is synchronized

Protected Attributes

SensorT sensor_ = {}

The sensor definition, used for return mode and time offset handling.

SensorT::info_t packet_ = {}

The last decoded packet.

rclcpp::Logger logger_