Description

This handler is responsible for interfacing a ChDriver to ROS.

Will instantiate a subscriber to chrono_ros_interfaces::msg::DriverInputs

#include <ChROSDriverInputsHandler.h>

Inheritance diagram for chrono::ros::ChROSDriverInputsHandler:

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Collaboration diagram for chrono::ros::ChROSDriverInputsHandler:

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Public Member Functions
	ChROSDriverInputsHandler (std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Convenience constructor. More...

	ChROSDriverInputsHandler (double update_rate, std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Constructor for the ChROSDriverInputsHandler class. More...

virtual bool	Initialize (std::shared_ptr< ChROSInterface > interface) override
	Initializes the handler. More...

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
	Updates the driver with stored inputs data from Callback.

Protected Member Functions inherited from chrono::ros::ChROSHandler
	ChROSHandler (double update_rate)
	Constructor for the ChROSHandler. More...

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_ros/handlers/vehicle/ChROSDriverInputsHandler.h
/builds/uwsbel/chrono/src/chrono_ros/handlers/vehicle/ChROSDriverInputsHandler.cpp

Public Member Functions