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chrono::ros::ChROSGyroscopeHandler Class Reference
ROS module » ROS Handlers » ROS Sensor Handlers

Description

Publishes a ChGyroscopeSensor as sensor_msgs/msg/Imu (only the angular velocity fields are populated).

#include <ChROSGyroscopeHandler.h>

Inherits chrono::ros::ChROSHandler.

Public Member Functions

 ChROSGyroscopeHandler (std::shared_ptr< chrono::sensor::ChGyroscopeSensor > imu, const std::string &topic_name)
 Tick at the sensor's own update rate.
 
 ChROSGyroscopeHandler (double update_rate, std::shared_ptr< chrono::sensor::ChGyroscopeSensor > imu, const std::string &topic_name)
 Tick at an explicit rate.
 
virtual bool Initialize (ChROSBridge &bridge) override
 Creates the Imu publisher.
 

Protected Member Functions

virtual void Tick (double time) override
 Reads the gyroscope buffer and publishes the angular velocity.
 

Friends

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