chrono::ros::ChROSRobotModelHandler Class Reference
Description
This handler is responsible for publishing a robot model to be visualized in RViz RViz expects a string containing the robot model.
We don't really need to publish this at a high rate, so the update rate is set implicitly to a very large value. This effectively means it will only be published once. This is okay since we'll also set the QoS to be local transient, meaning late joiners will still receive the message even if it's already been published.
#include <ChROSRobotModelHandler.h>
Inheritance diagram for chrono::ros::ChROSRobotModelHandler:
Collaboration diagram for chrono::ros::ChROSRobotModelHandler:
Public Member Functions | |
| ChROSRobotModelHandler (const std::string &robot_model, const std::string &topic_name="/robot_description") | |
| Constructor. More... | |
| virtual bool | Initialize (std::shared_ptr< ChROSInterface > interface) override |
| Initializes the handler. This creates the publisher for the robot model topic. | |
| virtual ipc::MessageType | GetMessageType () const override |
| Get the message type of this handler. | |
| virtual std::vector< uint8_t > | GetSerializedData (double time) override |
| Get the serialized data for the handler. | |
 Public Member Functions inherited from chrono::ros::ChROSHandler | |
| virtual | ~ChROSHandler ()=default |
| Destructor for the ChROSHandler. | |
| 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. | |
| virtual bool | IsPublisher () const |
| Check if this handler is a publisher (data flows from Chrono to ROS) Default is true. More... | |
| virtual void | PublishFromSerialized (const std::vector< uint8_t > &data, std::shared_ptr< ChROSInterface > interface) |
| Publish data to ROS from serialized bytes. More... | |
| virtual void | ApplyFromSerialized (const std::vector< uint8_t > &data) |
| Apply data to Chrono from serialized bytes. More... | |
| virtual void | SubscribeAndForward (std::shared_ptr< ChROSInterface > interface, std::function< void(const std::vector< uint8_t > &)> callback) |
| Setup subscriber in subprocess to send data back to main process. More... | |
| virtual void | HandleIncomingMessage (const ipc::Message &msg) |
| Handle incoming IPC message from ROS subscriber (bidirectional communication). More... | |
| virtual bool | SupportsIncomingMessages () const |
| Returns true if this handler processes incoming IPC messages. More... | |
Additional Inherited Members | |
| Public Types inherited from chrono::ros::ChROSHandler | |
| typedef chrono::ros::ipc::MessageType | MessageType |
| Get the message type of this handler. More... | |
| Protected Member Functions inherited from chrono::ros::ChROSHandler | |
| ChROSHandler (double update_rate) | |
| Constructor for the ChROSHandler. More... | |
| void | IncrementTickCount () |
| Increment the tick count. | |
Constructor & Destructor Documentation
◆ ChROSRobotModelHandler()
| chrono::ros::ChROSRobotModelHandler::ChROSRobotModelHandler | ( | const std::string & | robot_model, |
| const std::string & | topic_name = "/robot_description" |
||
| ) |
Constructor.
The topic name defaults to "/robot_description".
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_ros/handlers/robot/ChROSRobotModelHandler.h
- /builds/uwsbel/chrono/src/chrono_ros/handlers/robot/ChROSRobotModelHandler.cpp
