Template Class PCLNode

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

template<typename T, typename PublisherT = rclcpp::Publisher<T>>
class PCLNode : public rclcpp::Node

PCLNode represents the base PCL Node class. All PCL node should inherit from this class.

Public Types

typedef sensor_msgs::msg::PointCloud2 PointCloud2
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef pcl_msgs::msg::PointIndices PointIndices
typedef PointIndices::SharedPtr PointIndicesPtr
typedef PointIndices::ConstSharedPtr PointIndicesConstPtr
typedef pcl_msgs::msg::ModelCoefficients ModelCoefficients
typedef ModelCoefficients::SharedPtr ModelCoefficientsPtr
typedef ModelCoefficients::ConstSharedPtr ModelCoefficientsConstPtr
typedef pcl::IndicesPtr IndicesPtr
typedef pcl::IndicesConstPtr IndicesConstPtr

Public Functions

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

Empty constructor.

Protected Functions

inline bool isValid(const PointCloud2::ConstSharedPtr &cloud, const std::string &topic_name = "input")

Test whether a given PointCloud message is “valid” (i.e., has points, and width and height are non-zero).

Parameters:

  • cloud – the point cloud to test

  • topic_name – an optional topic name (only used for printing, defaults to “input”)

inline bool isValid(const PointCloudConstPtr &cloud, const std::string &topic_name = "input")

Test whether a given PointCloud message is “valid” (i.e., has points, and width and height are non-zero).

Parameters:

  • cloud – the point cloud to test

  • topic_name – an optional topic name (only used for printing, defaults to “input”)

inline bool isValid(const PointIndicesConstPtr&, const std::string& = "indices")

Test whether a given PointIndices message is “valid” (i.e., has values).

Parameters:

  • indices – the point indices message to test

  • topic_name – an optional topic name (only used for printing, defaults to “indices”)

inline bool isValid(const ModelCoefficientsConstPtr&, const std::string& = "model")

Test whether a given ModelCoefficients message is “valid” (i.e., has values).

Parameters:

  • model – the model coefficients to test

  • topic_name – an optional topic name (only used for printing, defaults to “model”)

inline virtual void subscribe()

Lazy transport subscribe/unsubscribe routine. It is optional for backward compatibility.

inline virtual void unsubscribe()

Protected Attributes

bool use_indices_

Set to true if point indices are used.

When receiving a point cloud, if use_indices_ is false, the entire point cloud is processed for the given operation. If use_indices_ is true, then the ~indices topic is read to get the vector of point indices specifying the subset of the point cloud that will be used for the operation. In the case where use_indices_ is true, the ~input and ~indices topics must be synchronised in time, either exact or within a specified jitter. See also transient_local_indices_ and approximate_sync.

bool transient_local_indices_

Set to true if the indices topic has transient_local durability.

If use_indices_ is true, the ~input and ~indices topics generally must be synchronised in time. By setting this flag to true, the most recent value from ~indices can be used instead of requiring a synchronised message.

message_filters::Subscriber<PointCloud2> sub_input_filter_

The message filter subscriber for PointCloud2.

message_filters::Subscriber<PointIndices> sub_indices_filter_

The message filter subscriber for PointIndices.

std::shared_ptr<PublisherT> pub_output_

The output PointCloud publisher. Allow each individual class that inherits from this to declare the Publisher with their type.

int max_queue_size_

The maximum queue size (default: 3).

bool approximate_sync_

True if we use an approximate time synchronizer versus an exact one (false by default).

tf2_ros::Buffer tf_buffer_

TF listener object.

tf2_ros::TransformListener tf_listener_