IMUPerceptionHandler Class Reference

Handles the creation and updating of IMUPerception instances from sensor_msgs::msg::Imu messages. More...

#include <IMUPerception.hpp>

Inheritance diagram for IMUPerceptionHandler:

Collaboration diagram for IMUPerceptionHandler:

Public Member Functions
std::shared_ptr< PerceptionBase >	create (const std::string &) override
	Creates a new empty IMUPerception instance.
rclcpp::SubscriptionBase::SharedPtr	create_subscription (rclcpp_lifecycle::LifecycleNode &node, const std::string &topic, const std::string &type, std::shared_ptr< PerceptionBase > target, rclcpp::CallbackGroup::SharedPtr cb_group) override
	Creates a subscription to an IMU topic that updates a target IMUPerception.
std::string	group () const override
	Returns the group managed by this handler.
Public Member Functions inherited from PerceptionHandler
virtual	~PerceptionHandler ()=default

Detailed Description

Handles the creation and updating of IMUPerception instances from sensor_msgs::msg::Imu messages.

This class provides methods to register subscriptions to IMU topics and update IMUPerception objects.

Member Function Documentation

create()

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

overridevirtual

Creates a new empty IMUPerception instance.

Parameters

sensor_id

Name or identifier of the sensor. Currently unused, reserved for future extensions.

Returns

Shared pointer to a newly created IMUPerception.

Implements PerceptionHandler.

create_subscription()

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

overridevirtual

Creates a subscription to an IMU topic that updates a target IMUPerception.

The subscription receives sensor_msgs::msg::Imu messages on topic and writes the content into IMUPerception::data, updating inherited metadata (stamp, frame_id).

Parameters

node	Lifecycle node used to create the subscription.
topic	Topic name to subscribe to.
type	ROS message type name. It must be "sensor_msgs/msg/Imu".
target	Shared pointer to the IMUPerception to be updated.
cb_group	Callback group for executor-level concurrency control.

Returns

Shared pointer to the created subscription.

Implements PerceptionHandler.

group()

std::string group ( ) const

overridevirtual

Returns the group managed by this handler.

Returns

The string literal "imu".

Implements PerceptionHandler.

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

• easynav_common/include/easynav_common/types/IMUPerception.hpp
• easynav_common/src/easynav_common/types/IMUPerception.cpp