DummyHandler Class Reference

Inheritance diagram for DummyHandler:

Collaboration diagram for DummyHandler:

Public Member Functions
std::shared_ptr< easynav::PerceptionBase >	create (const std::string &) override
	Creates a new instance of a perception object managed by this handler.
rclcpp::SubscriptionBase::SharedPtr	create_subscription (rclcpp_lifecycle::LifecycleNode &node, const std::string &topic, const std::string &, std::shared_ptr< easynav::PerceptionBase > target, rclcpp::CallbackGroup::SharedPtr cb_group)
	Creates a subscription that processes messages into PerceptionBase instances.
std::string	group () const override
	Returns the group identifier associated with this handler.
Public Member Functions inherited from PerceptionHandler
virtual	~PerceptionHandler ()=default

Member Function Documentation

create()

std::shared_ptr< easynav::PerceptionBase > create ( const std::string & sensor_id )

overridevirtual

Creates a new instance of a perception object managed by this handler.

Parameters

sensor_id

Name or ID of the sensor (optional use by handler).

Returns

Shared pointer to a new instance of a class derived from PerceptionBase.

Implements PerceptionHandler.

create_subscription()

rclcpp::SubscriptionBase::SharedPtr create_subscription ( rclcpp_lifecycle::LifecycleNode & node, const std::string & topic, const std::string & type, std::shared_ptr< easynav::PerceptionBase > target, rclcpp::CallbackGroup::SharedPtr cb_group )

virtual

Creates a subscription that processes messages into PerceptionBase instances.

The handler is expected to parse the message received on topic of type type and store the result in the target.

Parameters

node	Reference to the lifecycle node used for creating the subscription.
topic	Topic name to subscribe to.
type	Type name of the ROS message (e.g., "sensor_msgs/msg/LaserScan").
target	Atomic shared pointer where perception results are stored.
cb_group	Callback group where the subscription callback will be executed.

Returns

The created subscription.

Implements PerceptionHandler.

group()

std::string group ( ) const

overridevirtual

Returns the group identifier associated with this handler.

This identifier is used to match sensors to the appropriate handler. Example: "points", "image", "dummy".

Returns

String representing the group name.

Implements PerceptionHandler.

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

• easynav_common/tests/perceptions_tests.cpp