chrono::ros::ChROSHandlerUtilities Class Reference

Description

Utility class with static functions that may be useful for ROS handlers.

#include <ChROSHandlerUtilities.h>

Static Public Member Functions
static builtin_interfaces::msg::Time	GetROSTimestamp (double elapsed_time_s)
	Constructs a builtin_interfaces::msg::Time (helpful for std_msgs::msg::Header::stamp) msg from the current simulation time. More...
static double	GetChronoTime (const builtin_interfaces::msg::Time &time)
	Converts a builtin_interfaces::msg::Time to a chrono time. More...
template<typename... Args>
static std::string	BuildRelativeTopicName (Args &&... args)
	Constructs a relative topic name given variable number of inputs. More...
static bool	CheckROSTopicName (std::shared_ptr< ChROSInterface > interface, const std::string &topic_name)
	Checks the passed topic name is resolvable. More...

Member Function Documentation

BuildRelativeTopicName()

template<typename... Args>

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

inlinestatic

Constructs a relative topic name given variable number of inputs.

A relative topic name, when used to construct a ROS entity (publisher, subscription, etc.), is resolved to map to the node namespace. Using a relative topic name is recommended as then all topics attached to the node are prepended with a like namespace. Usage: BuildRelativeTopicName("sensing", "camera", "front", "rgb") constructs "~/sensing/camera/front/rgb"

CheckROSTopicName()

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

static

Checks the passed topic name is resolvable.

Refer to the ROS documentation for information regarding what defines a qualified topic name.

GetChronoTime()

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

static

Converts a builtin_interfaces::msg::Time to a chrono time.

Parameters

time	the builtin_interfaces::msg::Time to convert

GetROSTimestamp()

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

static

Constructs a builtin_interfaces::msg::Time (helpful for std_msgs::msg::Header::stamp) msg from the current simulation time.

Parameters

elapsed_time_s

the current elapsed simulation time in seconds

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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