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
using	SensorsHandlerFn
	Function pointer type used to handle sensor groups.

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

SensorsHandlerFn

using SensorsHandlerFn

Initial value:

 void(*)(
    const std::string & group,
    const std::vector<easynav::PerceptionPtr> & perceptions,
    ::easynav::NavState & ns
  )

Function pointer type used to handle sensor groups.

Parameters

group	Sensor group name.
perceptions	List of perceptions (one element from each sensor in the group).
ns	Navigation state to populate.

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