YARP
Yet Another Robot Platform

rangefinder2D_nws_ros: A Network grabber for 2D Rangefinder devices. This device will publish data on the specified ROS topic. More...

#include <Rangefinder2DWrapper/Rangefinder2D_nws_ros.h>

+ Inheritance diagram for Rangefinder2D_nws_ros:

Public Member Functions

 Rangefinder2D_nws_ros ()
 It reads the data from a rangefinder sensor and sends them on one port. More...
 
 ~Rangefinder2D_nws_ros ()
 
bool open (yarp::os::Searchable &params) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
void attach (yarp::dev::IRangefinder2D *s)
 
bool attach (yarp::dev::PolyDriver *driver) override
 Specify which sensor this thread has to read from. More...
 
bool detach () override
 Detach the object (you must have first called attach). More...
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
void run () override
 Loop function. More...
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor. More...
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor. More...
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread. More...
 
void step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning () const
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise. More...
 
bool setPeriod (double period)
 Set the (new) period of the thread. More...
 
double getPeriod () const
 Return the current period of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstimatedPeriod () const
 Return estimated period since last reset. More...
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset. More...
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset. More...
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset. More...
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 ~DeviceDriver () override=default
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::dev::WrapperSingle
 ~WrapperSingle () override
 Destructor. More...
 
bool attachAll (const yarp::dev::PolyDriverList &drivers) final
 Attach to a list of objects. More...
 
bool detachAll () final
 Detach the object (you must have first called attach). More...
 
- Public Member Functions inherited from yarp::dev::IWrapper
virtual ~IWrapper ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor. More...
 

Additional Inherited Members

- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void beforeStart ()
 Called just before a new thread starts. More...
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...
 

Detailed Description

rangefinder2D_nws_ros: A Network grabber for 2D Rangefinder devices. This device will publish data on the specified ROS topic.

Description of input parameters

This device does not accepts YARP RPC commands, it is dedicated only to data publishing.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
period - int ms 20 No refresh period of the broadcasted values in ms default 20ms
subdevice - string - - alternative to 'attach' action name of the subdevice to use as a data source when used, parameters for the subdevice must be provided as well
node_name - string - - Yes name of ROS node, e.g. /myRobotName -
topic_name - string - - Yes name of ROS topic, e.g. /Rangefinder2DSensor -
frame_id - string - - Yes name of the attached frame -

Example of configuration file using .ini format.

device rangefinder2D_nws_ros
subdevice <Rangefinder2DSensor>
period 20
node_name /<robotName>/Rangefinder2DSensor
topic_name /<robotName>/Rangefinder2DSensortopic
frame_id base

Definition at line 76 of file Rangefinder2D_nws_ros.h.

Constructor & Destructor Documentation

◆ Rangefinder2D_nws_ros()

Rangefinder2D_nws_ros::Rangefinder2D_nws_ros ( )

It reads the data from a rangefinder sensor and sends them on one port.

It also creates one rpc port.

Definition at line 30 of file Rangefinder2D_nws_ros.cpp.

◆ ~Rangefinder2D_nws_ros()

Rangefinder2D_nws_ros::~Rangefinder2D_nws_ros ( )

Definition at line 44 of file Rangefinder2D_nws_ros.cpp.

Member Function Documentation

◆ attach() [1/2]

void Rangefinder2D_nws_ros::attach ( yarp::dev::IRangefinder2D s)

Definition at line 146 of file Rangefinder2D_nws_ros.cpp.

◆ attach() [2/2]

bool Rangefinder2D_nws_ros::attach ( yarp::dev::PolyDriver driver)
overridevirtual

Specify which sensor this thread has to read from.

Implements yarp::dev::IWrapper.

Definition at line 109 of file Rangefinder2D_nws_ros.cpp.

◆ close()

bool Rangefinder2D_nws_ros::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 274 of file Rangefinder2D_nws_ros.cpp.

◆ detach()

bool Rangefinder2D_nws_ros::detach ( )
overridevirtual

Detach the object (you must have first called attach).

Returns
true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 151 of file Rangefinder2D_nws_ros.cpp.

◆ open()

bool Rangefinder2D_nws_ros::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 166 of file Rangefinder2D_nws_ros.cpp.

◆ run()

void Rangefinder2D_nws_ros::run ( )
overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 214 of file Rangefinder2D_nws_ros.cpp.

◆ threadInit()

bool Rangefinder2D_nws_ros::threadInit ( )
overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 161 of file Rangefinder2D_nws_ros.cpp.

◆ threadRelease()

void Rangefinder2D_nws_ros::threadRelease ( )
overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 209 of file Rangefinder2D_nws_ros.cpp.


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