Description

This handler is responsible for interfacing a ViperDCMotorControl driver to ROS.

Will instantiate a subscriber to chrono_ros_interfaces::msg::ViperDCMotorControl.

#include <ChROSViperDCMotorControlHandler.h>

Inheritance diagram for chrono::ros::ChROSViperDCMotorControlHandler:

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Collaboration diagram for chrono::ros::ChROSViperDCMotorControlHandler:

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Public Member Functions
	ChROSViperDCMotorControlHandler (double update_rate, std::shared_ptr< chrono::viper::ViperDCMotorControl > driver, const std::string &topic_name)
	Constructor. Takes a ViperDCMotorControl driver.

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

virtual ipc::MessageType	GetMessageType () const override
	Get the message type of this handler.

void	ApplyInputs (const ipc::ViperDCMotorControlData &data)
	Apply motor control inputs received from ROS (used in IPC mode)

virtual void	HandleIncomingMessage (const ipc::Message &msg) override
	Handle incoming IPC message from ROS subscriber (bidirectional)

virtual bool	SupportsIncomingMessages () const override
	This handler receives incoming messages.

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...

Protected Member Functions
virtual std::vector< uint8_t >	GetSerializedData (double time) override
	For IPC mode: sends topic name to subprocess once to create subscriber.

Protected Member Functions inherited from chrono::ros::ChROSHandler
	ChROSHandler (double update_rate)
	Constructor for the ChROSHandler 'update_rate' is the rate with which the handler should tick relative to the simulation clock. More...

void	IncrementTickCount ()
	Increment the tick count.

Additional Inherited Members
Public Types inherited from chrono::ros::ChROSHandler
typedef chrono::ros::ipc::MessageType	MessageType
	Get the message type of this handler. More...

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

/builds/uwsbel/chrono/src/chrono_ros/handlers/robot/viper/ChROSViperDCMotorControlHandler.h
/builds/uwsbel/chrono/src/chrono_ros/handlers/robot/viper/ChROSViperDCMotorControlHandler.cpp

Description

Public Member Functions

Protected Member Functions

Additional Inherited Members