Class TwistMux

• Defined in File twist_mux.hpp

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class TwistMux : public rclcpp::Node

The TwistMux class implements a top-level twist multiplexer module that priorize different velocity command topic inputs according to locks.

Public Types

template<typename T>
using handle_container = std::list<T>

using velocity_topic_container = handle_container<VelocityTopicHandle>

using lock_topic_container = handle_container<LockTopicHandle>

Public Functions

explicit TwistMux()

~TwistMux() = default

void init()

bool hasPriority(const VelocityTopicHandle &twist)

void publishTwist(const geometry_msgs::msg::Twist::ConstSharedPtr &msg)

void updateDiagnostics()

Protected Types

typedef TwistMuxDiagnostics diagnostics_type

typedef TwistMuxDiagnosticsStatus status_type

Protected Functions

template<typename T>
void getTopicHandles(const std::string &param_name, handle_container<T> &topic_hs)

int getLockPriority()

Protected Attributes

rclcpp::TimerBase::SharedPtr diagnostics_timer_

std::shared_ptr<velocity_topic_container> velocity_hs_

velocity_hs_ Velocity topics’ handles. Note that if we use a vector, as a consequence of the re-allocation and the fact that we have a subscriber inside with a pointer to ‘this’, we must reserve the number of handles initially.

std::shared_ptr<lock_topic_container> lock_hs_

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_pub_

geometry_msgs::msg::Twist last_cmd_

std::shared_ptr<diagnostics_type> diagnostics_

std::shared_ptr<status_type> status_

Protected Static Attributes

static constexpr std::chrono::duration<int64_t> DIAGNOSTICS_PERIOD = 1s