Class IMUPerceptionHandler

• Defined in File IMUPerception.hpp

Inheritance Relationships

Base Type

• public easynav::PerceptionHandler (Class PerceptionHandler)

Class Documentation

class IMUPerceptionHandler : public easynav::PerceptionHandler

Handles the creation and updating of IMUPerception instances from sensor_msgs::msg::Imu messages.

This class provides methods to register subscriptions to IMU topics and update IMUPerception objects.

Public Functions

inline virtual std::string group() const override

Returns the group managed by this handler.

Returns:

The string literal “imu”.

inline virtual std::shared_ptr<PerceptionBase> create(const std::string&) override

Creates a new empty IMUPerception instance.

Parameters:

sensor_id – Name or identifier of the sensor. Currently unused, reserved for future extensions.

Returns:

Shared pointer to a newly created IMUPerception.

virtual rclcpp::SubscriptionBase::SharedPtr create_subscription(rclcpp_lifecycle::LifecycleNode &node, const std::string &topic, const std::string &type, std::shared_ptr<PerceptionBase> target, rclcpp::CallbackGroup::SharedPtr cb_group) override

Creates a subscription to an IMU topic that updates a target IMUPerception.

The subscription receives sensor_msgs::msg::Imu messages on topic and writes the content into IMUPerception::data, updating inherited metadata (stamp, frame_id).

Parameters:

• node – Lifecycle node used to create the subscription.

• topic – Topic name to subscribe to.

• type – ROS message type name. It must be “sensor_msgs/msg/Imu”.

• target – Shared pointer to the IMUPerception to be updated.

• cb_group – Callback group for executor-level concurrency control.

Returns:

Shared pointer to the created subscription.