chrono::ros::ChROSHandlerUtilities Class Reference

Description

Utility class with static helper functions for ROS handlers.

These functions are used by both main process and subprocess handlers. No IPC support needed - these are pure utility functions.

#include <ChROSHandlerUtilities.h>

Static Public Member Functions
static builtin_interfaces::msg::Time	GetROSTimestamp (double elapsed_time_s)
	Convert Chrono simulation time to ROS timestamp Used when creating ROS message headers. More...
static double	GetChronoTime (const builtin_interfaces::msg::Time &time)
	Convert ROS timestamp to Chrono simulation time. More...
template<typename... Args>
static std::string	BuildRelativeTopicName (Args &&... args)
	Construct a relative topic name from path components Relative topic names start with "~/" and are resolved to the node namespace Example: BuildRelativeTopicName("sensing", "camera", "rgb") → "~/sensing/camera/rgb". More...
static bool	CheckROSTopicName (std::shared_ptr< ChROSInterface > interface, const std::string &topic_name)
	Validate that a topic name is valid according to ROS naming rules. More...

Member Function Documentation

BuildRelativeTopicName()

template<typename... Args>

static std::string chrono::ros::ChROSHandlerUtilities::BuildRelativeTopicName ( Args &&...  args )

inlinestatic

Construct a relative topic name from path components Relative topic names start with "~/" and are resolved to the node namespace Example: BuildRelativeTopicName("sensing", "camera", "rgb") → "~/sensing/camera/rgb".

Parameters

args	Variable number of path components

Returns

Relative topic name string

CheckROSTopicName()

bool chrono::ros::ChROSHandlerUtilities::CheckROSTopicName ( std::shared_ptr< ChROSInterface >  interface, const std::string &  topic_name  )

static

Validate that a topic name is valid according to ROS naming rules.

Parameters

interface	ROS interface with node context
topic_name	Topic name to validate

Returns

true if valid, false otherwise

GetChronoTime()

double chrono::ros::ChROSHandlerUtilities::GetChronoTime ( const builtin_interfaces::msg::Time &  time )

static

Convert ROS timestamp to Chrono simulation time.

Parameters

time	ROS timestamp message

Returns

Simulation time in seconds

GetROSTimestamp()

builtin_interfaces::msg::Time chrono::ros::ChROSHandlerUtilities::GetROSTimestamp ( double  elapsed_time_s )

static

Convert Chrono simulation time to ROS timestamp Used when creating ROS message headers.

Parameters

elapsed_time_s

Simulation time in seconds

Returns

ROS timestamp message

---

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

• /builds/uwsbel/chrono/src/chrono_ros/handlers/ChROSHandlerUtilities.h
• /builds/uwsbel/chrono/src/chrono_ros/handlers/ChROSHandlerUtilities.cpp