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.
void	register_handler (std::shared_ptr< PerceptionHandler > handler)
	SensorsNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor.
	~SensorsNode ()
	Destructor.

Detailed Description

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

Collects, transforms, and publishes fused perception data from multiple sources.

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.

register_handler()

void register_handler

(

std::shared_ptr< PerceptionHandler >

handler

)

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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