PerceptionHandler Class Reference

Abstract base class for pluginlib-based sensor perception handlers. More...

#include <Perceptions.hpp>

Inheritance diagram for PerceptionHandler:

Collaboration diagram for PerceptionHandler:

Public Member Functions
virtual bool	cycle_rt (std::shared_ptr< NavState > nav_state)
	Run one real-time sensor processing cycle.
const std::string &	get_sensor_name () const
	Returns the sensor name provided during initialize.
void	initialize (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > parent_node, const rclcpp::CallbackGroup::SharedPtr realtime_cbg, const std::string &sensor_name)
	Initializes the handler with the parent node and sensor name.
virtual void	on_initialize ()
	Optional post-initialization hook for subclasses.
virtual	~PerceptionHandler ()=default

Protected Member Functions
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const
	Returns the parent lifecycle node.
rclcpp::CallbackGroup::SharedPtr	get_realtime_cbg () const
	Returns the parent lifecycle node.

Protected Attributes
std::weak_ptr< rclcpp_lifecycle::LifecycleNode >	parent_node_
	Shared pointer to the parent lifecycle node.
rclcpp::CallbackGroup::SharedPtr	realtime_cbg_
	Callback group for real-time operations.
std::string	sensor_name_
	Name of the sensor (used as YAML parameter namespace prefix).

Detailed Description

Abstract base class for pluginlib-based sensor perception handlers.

Each handler is responsible for a single sensor input (e.g., "lidar_center", "image_color", "imu_0"). Concrete handlers are registered as pluginlib plugins and loaded at runtime. A user can implement a new sensor input handler by deriving from this class and registering it as a plugin in the corresponding package's plugin XML file. The handler is the owner of the sensor data. It is also responsible for reserving memory to hold the sensor data and must keep the data address consistent during the whole execution. The handler must populate the NavState with the sensor data

Constructor & Destructor Documentation

~PerceptionHandler()

virtual ~PerceptionHandler ( )

virtualdefault

Member Function Documentation

cycle_rt()

virtual bool cycle_rt ( std::shared_ptr< NavState > nav_state )

virtual

Run one real-time sensor processing cycle.

This method is called by the SensorsNode before executing its cycle_rt. Here the handler should update the NavState with the sensor data. If new data arrived before this call and the state is updated, it must return true.

Parameters

nav_state

Pointer to the NavState to store the sensor data.

Returns

True if new data was stored (to trigger processing).

Reimplemented in DummyHandler, DetectionsPerceptionsHandler, GNSSPerceptionHandler, ImagePerceptionHandler, IMUPerceptionHandler, and PointPerceptionHandler.

get_node()

std::shared_ptr< rclcpp_lifecycle::LifecycleNode > get_node ( ) const

protected

Returns the parent lifecycle node.

get_realtime_cbg()

rclcpp::CallbackGroup::SharedPtr get_realtime_cbg ( ) const

protected

Returns the parent lifecycle node.

get_sensor_name()

const std::string & get_sensor_name

(

)

const

Returns the sensor name provided during initialize.

initialize()

void initialize	(	const std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	parent_node,
		const rclcpp::CallbackGroup::SharedPtr	realtime_cbg,
		const std::string &	sensor_name )

Initializes the handler with the parent node and sensor name.

Must be called once before any other method. Stores the node and sensor name, then delegates to on_initialize for subclass-specific setup.

Parameters

parent_node	Shared pointer to the lifecycle node managing this handler.
sensor_name	Name of the sensor (used as parameter namespace prefix).

on_initialize()

virtual void on_initialize ( )

virtual

Optional post-initialization hook for subclasses.

Here, the handler must reserve memory to store the perception data and create any Subscription or similar objects to read the data.

Reimplemented in DummyHandler, DetectionsPerceptionsHandler, GNSSPerceptionHandler, ImagePerceptionHandler, IMUPerceptionHandler, and PointPerceptionHandler.

Member Data Documentation

parent_node_

std::weak_ptr<rclcpp_lifecycle::LifecycleNode> parent_node_

protected

Shared pointer to the parent lifecycle node.

realtime_cbg_

rclcpp::CallbackGroup::SharedPtr realtime_cbg_

protected

Callback group for real-time operations.

sensor_name_

std::string sensor_name_

protected

Name of the sensor (used as YAML parameter namespace prefix).

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

• easynav_sensors/include/easynav_sensors/types/Perceptions.hpp