Class Sender

• Defined in File sender.hpp

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class Sender : public rclcpp::Node

Abstract sender class to encode CAN (FD) frames. Needs to be extended for specific CAN messages.

Public Types

using FrameId = uint32_t

using Messages = std::unordered_map<FrameId, Message>

using DiagTask = diagnostic_updater::GenericFunctionDiagnosticTask<diagnostic_updater::DiagnosticStatusWrapper>

using DiagCompositeTask = diagnostic_updater::CompositeDiagnosticTask

Public Functions

explicit Sender(const std::string &node_name = "sender", const rclcpp::NodeOptions &options = rclcpp::NodeOptions(), bool use_fd = false)

Construct a new Sender object.

Parameters:

• node_name – Name of the node

• options – Node options

• use_fd – Enable CAN FD frames

virtual ~Sender() = default

Destroy the Sender object.

void send_can()

Encode messages into CAN frames and send them.

Messages get_messages() const

Returns message definitions of configured CAN messages.

Protected Functions

template<typename Msg>
void send_can(FrameId id, Message &message)

Encode message into CAN frame and send it.

Parameters:

• id – Frame ID

• message – Message to send

Template Parameters:

Msg – Type of ROS message to send

void add_diag_task(const std::shared_ptr<diagnostic_updater::DiagnosticTask> &task)

Add diagnostic task to composite task for including it in the diagnostic updater.

Parameters:

task – Task to add

void force_diag_update()

Enforce diagnose update.

Protected Attributes

Messages messages_

const bool use_fd_ = {false}

Use CAN FD frames, defaults to false.