FrameTransformGet_nwc_ros2 Class Reference

frameTransformGet_nwc_ros2: A ros network wrapper client that receives frame transforms from a ros2 topic and makes them available through an IFrameTransformStorageGet interface. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.h>

Inheritance diagram for FrameTransformGet_nwc_ros2:

Public Member Functions
	~FrameTransformGet_nwc_ros2 ()=default
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.
bool	close () override
	Close the DeviceDriver.
bool	getTransforms (std::vector< yarp::math::FrameTransform > &transforms) const override
	Obtains all frame transforms saved in a storage.
void	frameTransformTimedGet_callback (const tf2_msgs::msg::TFMessage::SharedPtr msg)
void	frameTransformStaticGet_callback (const tf2_msgs::msg::TFMessage::SharedPtr msg)
void	ros2TransformToYARP (const geometry_msgs::msg::TransformStamped &input, yarp::math::FrameTransform &output, bool isStatic)
bool	updateBuffer (const std::vector< geometry_msgs::msg::TransformStamped > &transforms, bool areStatic)
bool	setTransform (const yarp::math::FrameTransform &transform)
Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()
	DeviceDriver (const DeviceDriver &other)=delete
	DeviceDriver (DeviceDriver &&other) noexcept=delete
DeviceDriver &	operator= (const DeviceDriver &other)=delete
DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete
virtual	~DeviceDriver ()
virtual std::string	id () const
	Return the id assigned to the PolyDriver.
virtual void	setId (const std::string &id)
	Set the id for this device.
template<class T >
bool	view (T *&x)
	Get an interface to the device driver.
virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.
Public Member Functions inherited from yarp::dev::IFrameTransformStorageGet
virtual	~IFrameTransformStorageGet ()

Public Attributes
Ros2Spinner *	m_spinner {nullptr}

Detailed Description

frameTransformGet_nwc_ros2: A ros network wrapper client that receives frame transforms from a ros2 topic and makes them available through an IFrameTransformStorageGet interface.

See FrameTransform: start all the required devices needed for transforming frames for additional info.

Parameters

Parameters required by this device are shown in class: FrameTransformGet_nwc_ros2_ParamsParser

N.B. pay attention to the difference between tf and ft

Example of configuration file using .ini format.

device frameTransformGet_nwc_ros2
[GENERAL]
period 0.05
refresh_interval 0.2
[ROS]
ft_topic /tf
ft_topic_static /tf_static
ft_node /tfNodeGet

Definition at line 61 of file frameTransformGet_nwc_ros2.h.

Constructor & Destructor Documentation

~FrameTransformGet_nwc_ros2()

FrameTransformGet_nwc_ros2::~FrameTransformGet_nwc_ros2 ( )

default

Member Function Documentation

close()

bool FrameTransformGet_nwc_ros2::close ( )

overridevirtual

Close the DeviceDriver.

Returns

true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 50 of file frameTransformGet_nwc_ros2.cpp.

frameTransformStaticGet_callback()

void FrameTransformGet_nwc_ros2::frameTransformStaticGet_callback

(

const tf2_msgs::msg::TFMessage::SharedPtr

msg

)

Definition at line 77 of file frameTransformGet_nwc_ros2.cpp.

frameTransformTimedGet_callback()

void FrameTransformGet_nwc_ros2::frameTransformTimedGet_callback

(

const tf2_msgs::msg::TFMessage::SharedPtr

msg

)

Definition at line 70 of file frameTransformGet_nwc_ros2.cpp.

getTransforms()

bool FrameTransformGet_nwc_ros2::getTransforms ( std::vector< yarp::math::FrameTransform > &  transforms ) const

overridevirtual

Obtains all frame transforms saved in a storage.

Parameters

transforms

the returned list of frame transforms

Returns

true/false

Implements yarp::dev::IFrameTransformStorageGet.

Definition at line 58 of file frameTransformGet_nwc_ros2.cpp.

open()

bool FrameTransformGet_nwc_ros2::open ( yarp::os::Searchable &  config )

overridevirtual

Open the DeviceDriver.

Parameters

config

is 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 22 of file frameTransformGet_nwc_ros2.cpp.

ros2TransformToYARP()

void FrameTransformGet_nwc_ros2::ros2TransformToYARP	(	const geometry_msgs::msg::TransformStamped &	input,
		yarp::math::FrameTransform &	output,
		bool	isStatic
	)

Definition at line 84 of file frameTransformGet_nwc_ros2.cpp.

setTransform()

bool FrameTransformGet_nwc_ros2::setTransform

(

const yarp::math::FrameTransform &

transform

)

updateBuffer()

bool FrameTransformGet_nwc_ros2::updateBuffer	(	const std::vector< geometry_msgs::msg::TransformStamped > &	transforms,
		bool	areStatic
	)

Definition at line 101 of file frameTransformGet_nwc_ros2.cpp.

Member Data Documentation

m_spinner

Ros2Spinner* FrameTransformGet_nwc_ros2::m_spinner {nullptr}

Definition at line 74 of file frameTransformGet_nwc_ros2.h.

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

• opt-modules/yarp-devices-ros2/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.h
• opt-modules/yarp-devices-ros2/src/devices/frameTransformGet_nwc_ros2/frameTransformGet_nwc_ros2.cpp