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Handles the creation and updating of ImagePerception instances from sensor_msgs::msg::Image messages. More...
#include <ImagePerception.hpp>
Public Member Functions | |
std::shared_ptr< PerceptionBase > | create (const std::string &) override |
Creates a new empty ImagePerception 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 image topic that updates an perception. | |
std::string | group () const override |
Returns the group name this handler manages ("image"). | |
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virtual | ~PerceptionHandler ()=default |
Handles the creation and updating of ImagePerception instances from sensor_msgs::msg::Image messages.
This class provides methods to register subscriptions to image topics, decode the messages into OpenCV images, and populate ImagePerception objects using shared pointers.
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overridevirtual |
Creates a new empty ImagePerception instance.
sensor_id | Name or ID of the sensor (unused here, but available for future extensions). |
Implements PerceptionHandler.
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overridevirtual |
Creates a subscription to an image topic that updates an perception.
node | Reference to the lifecycle node used for subscription creation. |
topic | Topic name to subscribe to. |
type | ROS message type as a string (must be "sensor_msgs/msg/Image"). |
target | Atomic pointer to store the resulting ImagePerception. |
cb_group | Callback group to assign the subscription to. |
Implements PerceptionHandler.
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overridevirtual |
Returns the group name this handler manages ("image").
Implements PerceptionHandler.