Class SensorsNode

Inheritance Relationships

Base Type

  • public rclcpp_lifecycle::LifecycleNode

Class Documentation

class SensorsNode : public rclcpp_lifecycle::LifecycleNode

ROS 2 lifecycle node that manages sensor fusion in Easy Navigation.

Collects, transforms, and publishes fused perception data from multiple sources.

Public Types

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
using SensorsHandlerFn = void (*)(const std::string &group, const std::vector<easynav::PerceptionPtr> &perceptions, ::easynav::NavState &ns)

Function pointer type used to handle sensor groups.

Param group:

Sensor group name.

Param perceptions:

List of perceptions (one element from each sensor in the group).

Param ns:

Navigation state to populate.

Public Functions

explicit SensorsNode(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

Constructor.

Parameters:

options – Node configuration options.

~SensorsNode()

Destructor.

CallbackReturnT on_configure(const rclcpp_lifecycle::State &state)

Configure the node.

Parameters:

state – Lifecycle state.

Returns:

SUCCESS if configuration succeeded.

CallbackReturnT on_activate(const rclcpp_lifecycle::State &state)

Activate the node.

Parameters:

state – Lifecycle state.

Returns:

SUCCESS if activation succeeded.

CallbackReturnT on_deactivate(const rclcpp_lifecycle::State &state)

Deactivate the node.

Parameters:

state – Lifecycle state.

Returns:

SUCCESS if deactivation succeeded.

CallbackReturnT on_cleanup(const rclcpp_lifecycle::State &state)

Cleanup the node.

Parameters:

state – Lifecycle state.

Returns:

SUCCESS if cleanup succeeded.

CallbackReturnT on_shutdown(const rclcpp_lifecycle::State &state)

Shutdown the node.

Parameters:

state – Lifecycle state.

Returns:

SUCCESS if shutdown succeeded.

CallbackReturnT on_error(const rclcpp_lifecycle::State &state)

Handle lifecycle transition errors.

Parameters:

state – Lifecycle state.

Returns:

SUCCESS if error was handled.

rclcpp::CallbackGroup::SharedPtr get_real_time_cbg()

Get the callback group for real-time tasks.

Returns:

Shared pointer to the callback group.

bool cycle_rt(std::shared_ptr<NavState> nav_state, bool trigger = false)

Run one real-time sensor processing cycle.

Parameters:

trigger – Force execution regardless of frequency.

Returns:

True if cycle executed.

void cycle(std::shared_ptr<NavState> nav_state)

Run one non-real-time processing cycle.

void register_handler(std::shared_ptr<PerceptionHandler> handler)