Class ProfilesManager

Defined in File profile_manager.h

Inheritance Relationships

Derived Types

public realsense2_camera::MotionProfilesManager (Class MotionProfilesManager)
public realsense2_camera::VideoProfilesManager (Class VideoProfilesManager)

Class Documentation

class ProfilesManager

Subclassed by realsense2_camera::MotionProfilesManager, realsense2_camera::VideoProfilesManager

Public Functions

ProfilesManager(std::shared_ptr<Parameters> parameters, rclcpp::Logger logger)

virtual bool isWantedProfile(const rs2::stream_profile &profile) = 0

virtual void registerProfileParameters(std::vector<stream_profile> all_profiles, std::function<void()> update_sensor_func) = 0

bool isTypeExist()

void registerSensorQOSParam(std::string template_name, std::set<stream_index_pair> unique_sips, std::map<stream_index_pair, std::shared_ptr<std::string>> &params, std::string value)

template<class T> void registerSensorUpdateParam(std::string template_name, std::set<stream_index_pair> unique_sips, std::map<stream_index_pair, std::shared_ptr<T>> &params, T value, std::function<void()> update_sensor_func)

void addWantedProfiles(std::vector<rs2::stream_profile> &wanted_profiles)

void clearParameters()

bool hasSIP(const stream_index_pair &sip) const

rmw_qos_profile_t getQOS(const stream_index_pair &sip) const

rmw_qos_profile_t getInfoQOS(const stream_index_pair &sip) const

Public Static Functions

static std::string profile_string(const rs2::stream_profile &profile)

Protected Functions

std::map<stream_index_pair, rs2::stream_profile> getDefaultProfiles()

Protected Attributes

rclcpp::Logger _logger

SensorParams _params

std::map<stream_index_pair, std::shared_ptr<bool>> _enabled_profiles

std::map<stream_index_pair, std::shared_ptr<std::string>> _profiles_image_qos_str

std::map<stream_index_pair, std::shared_ptr<std::string>> _profiles_info_qos_str

std::vector<rs2::stream_profile> _all_profiles

std::vector<std::string> _parameters_names