Class SickSafeVisionary

• Defined in File sick_safevisionary.hpp

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class SickSafeVisionary : public rclcpp_lifecycle::LifecycleNode

The primary driver class for the Sick SafeVisionary camera.

This class implements a lifecycle node to provide advanced options for managing the driver’s internal state. An overview of these states is given here

This driver’s behavior is as follows:

State: Unconfigured -> Directly after starting the driver. Nothing happens yet. State: Inactive -> Connection to the camera established. Data is consumed, but not published to ROS2 yet. State: Active -> Data is published to ROS2. State: Finalized -> All resources are cleaned up.

The data communication with the library is based on the single producer, single consumer (spsc) pattern and uses Boost’s lock-free, thread-safe buffer to publish the camera’s data to ROS2.

Public Types

using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Public Functions

inline SickSafeVisionary()

CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_cleanup(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_shutdown(const rclcpp_lifecycle::State &previous_state) override