Description

This handler is responsible for interfacing a ChCameraSensor to ROS. Will publish sensor_msgs::msg::Image.

#include <ChROSCameraHandler.h>

Inheritance diagram for chrono::ros::ChROSCameraHandler:
Collaboration diagram for chrono::ros::ChROSCameraHandler:

Public Member Functions

 ChROSCameraHandler (std::shared_ptr< chrono::sensor::ChCameraSensor > camera, const std::string &topic_name)
 Constructor. More...
 
 ChROSCameraHandler (double update_rate, std::shared_ptr< chrono::sensor::ChCameraSensor > camera, const std::string &topic_name)
 Full constructor. Takes a ChCameraSensor, update rate, and topic name.
 
virtual bool Initialize (std::shared_ptr< ChROSInterface > interface) override
 Initializes the handler.
 
- Public Member Functions inherited from chrono::ros::ChROSHandler
virtual ~ChROSHandler ()=default
 Destructor for the ChROSHandler.
 
virtual void Update (double time, double step) final
 Updates the internal clock and checks if a tick should occur. More...
 
const double GetUpdateRate () const
 Get the period which this handler operates at.
 
const uint64_t GetTickCount () const
 Get the number of times Tick() has been called.
 

Protected Member Functions

virtual void Tick (double time) override
 Derived class must implement this function. More...
 
- Protected Member Functions inherited from chrono::ros::ChROSHandler
 ChROSHandler (double update_rate)
 Constructor for the ChROSHandler. More...
 

Constructor & Destructor Documentation

◆ ChROSCameraHandler()

chrono::ros::ChROSCameraHandler::ChROSCameraHandler ( std::shared_ptr< chrono::sensor::ChCameraSensor camera,
const std::string &  topic_name 
)

Constructor.

The update rate is set to camera->GetUpdateRate(). The update rate corresponds to the sensor's update rate.

Member Function Documentation

◆ Tick()

void chrono::ros::ChROSCameraHandler::Tick ( double  time)
overrideprotectedvirtual

Derived class must implement this function.

Parameters
timethe current simulation time

Implements chrono::ros::ChROSHandler.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_ros/handlers/sensor/ChROSCameraHandler.h
  • /builds/uwsbel/chrono/src/chrono_ros/handlers/sensor/ChROSCameraHandler.cpp