Class ThreadedNode

• Defined in File threaded_node.hpp

Inheritance Relationships

Base Type

• public rko_lio::ros::BaseNode (Class BaseNode)

Derived Types

• public rko_lio::ros::OfflineNode (Class OfflineNode)

• public rko_lio::ros::OnlineNode (Class OnlineNode)

Class Documentation

class ThreadedNode : public rko_lio::ros::BaseNode

Subclassed by rko_lio::ros::OfflineNode, rko_lio::ros::OnlineNode

Public Functions

ThreadedNode() = delete

ThreadedNode(const std::string &node_name, const rclcpp::NodeOptions &options)

void imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr &imu_msg)

void lidar_callback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &lidar_msg)

void registration_loop()

~ThreadedNode()

ThreadedNode(const ThreadedNode&) = delete

ThreadedNode(ThreadedNode&&) = delete

ThreadedNode &operator=(const ThreadedNode&) = delete

ThreadedNode &operator=(ThreadedNode&&) = delete

Public Members

std::jthread registration_thread

std::mutex buffer_mutex

std::condition_variable sync_condition_variable

std::atomic<bool> atomic_can_process = false

std::queue<core::ImuControl> imu_buffer

std::queue<LidarFrame> lidar_buffer

size_t max_lidar_buffer_size = 50