Class ScanProcessor

Defined in File scan_processor.hpp

Inheritance Relationships

Base Type

public ros2_ouster::DataProcessorInterface (Class DataProcessorInterface)

Class Documentation

class OS1::ScanProcessor : public ros2_ouster::DataProcessorInterface 

A data processor interface implementation of a processor for creating Scans in the driver in ROS2.

Public Types

using OSScan = std::vector<scan_os::ScanOS>

using OSScanIt = OSScan::iterator

Public Functions

inline ScanProcessor(const rclcpp_lifecycle::LifecycleNode::SharedPtr node, const ros2_ouster::Metadata &mdata, const std::string &frame, const rclcpp::QoS &qos)

A constructor for OS1::ScanProcessor.

Parameters

node – Node for creating interfaces
mdata – metadata about the sensor
frame – frame_id to use for messages

inline ~ScanProcessor(): A destructor clearing memory allocated.

inline virtual bool process(uint8_t *data, uint64_t override_ts) override

Process method to create scan.

Parameters: data – the packet data

inline virtual void onActivate() override: Activating processor from lifecycle state transitions.

inline virtual void onDeactivate() override: Deactivating processor from lifecycle state transitions.