Class SampleRosWrapper

• Defined in File sample_ros_wrapper.hpp

Nested Relationships

Nested Types

• Struct SampleRosWrapper::Diagnostics

• Struct SampleRosWrapper::Error

• Struct SampleRosWrapper::OfflineMode

• Struct SampleRosWrapper::OnlineMode

• Struct SampleRosWrapper::Publishers

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class SampleRosWrapper : public rclcpp::Node

ROS 2 wrapper for the Sample LiDAR driver.

This node bridges the C++ driver with ROS 2. Responsibilities:

• Turn ROS 2 parameters into sensor configuration

• Initialize decoder and hardware interface

• Forward packets from HW interface and pass to decoder

• Convert decoded point clouds to ROS messages

• Publish point clouds on ROS topics

• Optionally: provide services for runtime configuration

Public Functions

explicit SampleRosWrapper(const rclcpp::NodeOptions &options)

Construct the ROS 2 node and initialize decoder + optional HW stream.

Parameters:

options – Standard ROS 2 component/node options.

Throws:

std::runtime_error – on invalid configuration or startup failures.

~SampleRosWrapper() override

struct Error

Public Types

enum class Code : uint8_t

Values:

enumerator HW_INTERFACE_NOT_INITIALIZED

Stream start requested while HW interface is absent.

enumerator HW_STREAM_START_FAILED

Underlying HW interface failed to start.

Public Members

Code code

std::string message