SensorsNode Class Reference

ROS 2 lifecycle node that manages sensor fusion in Easy Navigation. More...

#include <SensorsNode.hpp>

Inheritance diagram for SensorsNode:

Collaboration diagram for SensorsNode:

Public Types
using	CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Public Member Functions
void	cycle (std::shared_ptr< NavState > nav_state)
	Run one non-real-time processing cycle.
bool	cycle_rt (std::shared_ptr< NavState > nav_state, bool trigger=false)
	Run one real-time sensor processing cycle.
rclcpp::CallbackGroup::SharedPtr	get_real_time_cbg ()
	Get the callback group for real-time tasks.
CallbackReturnT	on_activate (const rclcpp_lifecycle::State &state)
	Activate the node.
CallbackReturnT	on_cleanup (const rclcpp_lifecycle::State &state)
	Cleanup the node.
CallbackReturnT	on_configure (const rclcpp_lifecycle::State &state)
	Configure the node.
CallbackReturnT	on_deactivate (const rclcpp_lifecycle::State &state)
	Deactivate the node.
CallbackReturnT	on_error (const rclcpp_lifecycle::State &state)
	Handle lifecycle transition errors.
CallbackReturnT	on_shutdown (const rclcpp_lifecycle::State &state)
	Shutdown the node.
	SensorsNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor.
	~SensorsNode ()
	Destructor.

Protected Attributes
std::map< std::string, std::vector< std::string > >	groups_
	Sensor groups (set as group of keys in the NavState).
std::vector< std::shared_ptr< PerceptionHandler > >	handler_list_
	vector of PerceptionHandler instances
std::mutex	handler_list_mutex_
	Guards handler_list_ between the RT thread (cycle_rt) and the non-RT thread (on_cleanup), which run concurrently.
std::unique_ptr< pluginlib::ClassLoader< PerceptionHandler > >	handler_loader_
	Pluginlib class loader for PerceptionHandler plugins.

Detailed Description

ROS 2 lifecycle node that manages sensor fusion in Easy Navigation.

Collects, transforms, and publishes fused perception data from multiple sources. Sensor handlers are loaded at runtime as pluginlib plugins, allowing users to add new sensor types without modifying this node.

Every RT cycle, a perception older than "forget_time" seconds (ROS time) is invalidated, so nothing uses it until new data arrives. Sensors without data, or with old data, are reported as "diagnostics.sensors" (WARN), on changes only.

Member Typedef Documentation

CallbackReturnT

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Constructor & Destructor Documentation

SensorsNode()

SensorsNode ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructor.

Parameters

options

Node configuration options.

~SensorsNode()

~SensorsNode

(

)

Destructor.

Member Function Documentation

cycle()

void cycle

(

std::shared_ptr< NavState >

nav_state

)

Run one non-real-time processing cycle.

cycle_rt()

bool cycle_rt	(	std::shared_ptr< NavState >	nav_state,
		bool	trigger = false )

Run one real-time sensor processing cycle.

Parameters

trigger

Force execution regardless of frequency.

Returns

True if cycle executed.

get_real_time_cbg()

rclcpp::CallbackGroup::SharedPtr get_real_time_cbg

(

)

Get the callback group for real-time tasks.

Returns

Shared pointer to the callback group.

on_activate()

CallbackReturnT on_activate

(

const rclcpp_lifecycle::State &

state

)

Activate the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if activation succeeded.

on_cleanup()

CallbackReturnT on_cleanup

(

const rclcpp_lifecycle::State &

state

)

Cleanup the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if cleanup succeeded.

on_configure()

CallbackReturnT on_configure

(

const rclcpp_lifecycle::State &

state

)

Configure the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if configuration succeeded.

on_deactivate()

CallbackReturnT on_deactivate

(

const rclcpp_lifecycle::State &

state

)

Deactivate the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if deactivation succeeded.

on_error()

CallbackReturnT on_error

(

const rclcpp_lifecycle::State &

state

)

Handle lifecycle transition errors.

Parameters

state

Lifecycle state.

Returns

SUCCESS if error was handled.

on_shutdown()

CallbackReturnT on_shutdown

(

const rclcpp_lifecycle::State &

state

)

Shutdown the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if shutdown succeeded.

Member Data Documentation

groups_

std::map<std::string, std::vector<std::string> > groups_

protected

Sensor groups (set as group of keys in the NavState).

handler_list_

std::vector<std::shared_ptr<PerceptionHandler> > handler_list_

protected

vector of PerceptionHandler instances

handler_list_mutex_

std::mutex handler_list_mutex_

protected

Guards handler_list_ between the RT thread (cycle_rt) and the non-RT thread (on_cleanup), which run concurrently.

handler_loader_

std::unique_ptr<pluginlib::ClassLoader<PerceptionHandler> > handler_loader_

protected

Pluginlib class loader for PerceptionHandler plugins.

Declared before handler_list_ so it is destroyed after it: members are destroyed in reverse declaration order, and each handler instance's vtable/code lives inside the shared library this loader dlopen()s. Destroying the loader (and therefore dlclose()-ing the library) before the instances would make their destructors call into unloaded code.

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

• easynav_sensors/include/easynav_sensors/SensorsNode.hpp
• easynav_sensors/src/easynav_sensors/SensorsNode.cpp