PointPerceptionHandler Class Reference

PerceptionHandler implementation for sensors producing point-based data. More...

#include <PointPerception.hpp>

Inheritance diagram for PointPerceptionHandler:

Collaboration diagram for PointPerceptionHandler:

Public Member Functions
std::shared_ptr< PerceptionBase >	create (const std::string &) override
	Creates a new PointPerception 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 LaserScan or PointCloud2 messages and updates the perception.
std::string	group () const override
	Returns the sensor group handled by this handler.
Public Member Functions inherited from PerceptionHandler
virtual	~PerceptionHandler ()=default

Detailed Description

PerceptionHandler implementation for sensors producing point-based data.

Supports both sensor_msgs::msg::LaserScan and sensor_msgs::msg::PointCloud2, converting incoming messages into PointPerception instances.

Member Function Documentation

create()

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

overridevirtual

Creates a new PointPerception instance.

Parameters

sensor_id

Identifier of the sensor (currently unused, kept for future extensions).

Returns

Shared pointer to a new PointPerception.

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 LaserScan or PointCloud2 messages and updates the perception.

The created subscription decodes incoming messages from topic according to type, converts them into a point cloud, and writes the result into target (including metadata such as stamp and frame_id).

Parameters

node	Lifecycle node used to create the subscription.
topic	Topic name to subscribe to.
type	ROS message type name. Must be either "sensor_msgs/msg/LaserScan" or "sensor_msgs/msg/PointCloud2".
target	Shared pointer to the perception instance to be updated.
cb_group	Callback group for the subscription callback (executor-level concurrency control).

Returns

Shared pointer to the created subscription.

Implements PerceptionHandler.

group()

std::string group ( ) const

overridevirtual

Returns the sensor group handled by this handler.

Returns

The string literal "points".

Implements PerceptionHandler.

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

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