ROS Vehicle Handlers

Description

Collaboration diagram for ROS Vehicle Handlers:

Classes
class	chrono::ros::ChROSDriverInputsHandler
	Handler for interfacing a ChDriver to ROS via bidirectional IPC communication. More...

Functions
	chrono::ros::ChROSDriverInputsHandler::ChROSDriverInputsHandler (std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Constructor with default update rate. More...
	chrono::ros::ChROSDriverInputsHandler::ChROSDriverInputsHandler (double update_rate, std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Constructor with custom update rate. More...
virtual bool	chrono::ros::ChROSDriverInputsHandler::Initialize (std::shared_ptr< ChROSInterface > interface) override
	Initialize handler (called once at startup in main process) In IPC mode, this does nothing. More...
virtual ipc::MessageType	chrono::ros::ChROSDriverInputsHandler::GetMessageType () const override
	Get the message type of this handler.
void	chrono::ros::ChROSDriverInputsHandler::ApplyInputs (double steering, double throttle, double braking)
	Apply driver inputs received from subprocess via IPC This method is called internally by HandleIncomingMessage() More...
virtual void	chrono::ros::ChROSDriverInputsHandler::HandleIncomingMessage (const ipc::Message &msg) override
	Handle incoming IPC message from subprocess ROS subscriber Called by ChROSManager when IPC message of type DRIVER_INPUTS arrives. More...
virtual bool	chrono::ros::ChROSDriverInputsHandler::SupportsIncomingMessages () const override
	Indicates this handler receives messages from subprocess. More...
virtual std::vector< uint8_t >	chrono::ros::ChROSDriverInputsHandler::GetSerializedData (double time) override
	Send topic name to subprocess once to trigger subscriber creation First call: Returns topic name as bytes for subprocess setup Subsequent calls: Returns empty vector (no data to publish) More...

Function Documentation

ApplyInputs()

void chrono::ros::ChROSDriverInputsHandler::ApplyInputs	(	double	steering,
		double	throttle,
		double	braking
	)

Apply driver inputs received from subprocess via IPC This method is called internally by HandleIncomingMessage()

Parameters

steering	Steering value from ROS message
throttle	Throttle value from ROS message
braking	Braking value from ROS message

ChROSDriverInputsHandler() [1/2]

chrono::ros::ChROSDriverInputsHandler::ChROSDriverInputsHandler	(	double	update_rate,
		std::shared_ptr< chrono::vehicle::ChDriver >	driver,
		const std::string &	topic_name
	)

Constructor with custom update rate.

Parameters

update_rate	Rate at which to apply received inputs to driver (Hz)
driver	Chrono vehicle driver to update with ROS commands
topic_name	ROS topic to subscribe to for driver inputs

ChROSDriverInputsHandler() [2/2]

chrono::ros::ChROSDriverInputsHandler::ChROSDriverInputsHandler	(	std::shared_ptr< chrono::vehicle::ChDriver >	driver,
		const std::string &	topic_name
	)

Constructor with default update rate.

Parameters

driver	Chrono vehicle driver to update with ROS commands
topic_name	ROS topic to subscribe to for driver inputs

GetSerializedData()

std::vector< uint8_t > chrono::ros::ChROSDriverInputsHandler::GetSerializedData ( double  time )

overrideprotectedvirtual

Send topic name to subprocess once to trigger subscriber creation First call: Returns topic name as bytes for subprocess setup Subsequent calls: Returns empty vector (no data to publish)

Parameters

time	Current simulation time (unused for subscribers)

Returns

Topic name bytes on first call, empty afterwards

Reimplemented from chrono::ros::ChROSHandler.

HandleIncomingMessage()

void chrono::ros::ChROSDriverInputsHandler::HandleIncomingMessage ( const ipc::Message &  msg )

overridevirtual

Handle incoming IPC message from subprocess ROS subscriber Called by ChROSManager when IPC message of type DRIVER_INPUTS arrives.

Extracts DriverInputsData from message payload and applies to driver.

Parameters

msg	IPC message containing DriverInputsData payload

Reimplemented from chrono::ros::ChROSHandler.

Initialize()

bool chrono::ros::ChROSDriverInputsHandler::Initialize ( std::shared_ptr< ChROSInterface >  interface )

overridevirtual

Initialize handler (called once at startup in main process) In IPC mode, this does nothing.

Subprocess will create the actual ROS subscriber.

Implements chrono::ros::ChROSHandler.

SupportsIncomingMessages()

virtual bool chrono::ros::ChROSDriverInputsHandler::SupportsIncomingMessages ( ) const

inlineoverridevirtual

Indicates this handler receives messages from subprocess.

Returns

true (this is a bidirectional subscriber)

Reimplemented from chrono::ros::ChROSHandler.