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rgbdToPointCloudSensor_nws_ros2: A Network grabber for kinect-like devices. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/rgbdToPointCloudSensor_nws_ros2/RgbdToPointCloudSensor_nws_ros2.h>

+ Inheritance diagram for RgbdToPointCloudSensor_nws_ros2:

Public Member Functions

 RgbdToPointCloudSensor_nws_ros2 ()
 
 RgbdToPointCloudSensor_nws_ros2 (const RgbdToPointCloudSensor_nws_ros2 &)=delete
 
 RgbdToPointCloudSensor_nws_ros2 (RgbdToPointCloudSensor_nws_ros2 &&) noexcept=delete
 
RgbdToPointCloudSensor_nws_ros2operator= (const RgbdToPointCloudSensor_nws_ros2 &)=delete
 
RgbdToPointCloudSensor_nws_ros2operator= (RgbdToPointCloudSensor_nws_ros2 &&) noexcept=delete
 
 ~RgbdToPointCloudSensor_nws_ros2 () override=default
 
bool attach (yarp::dev::PolyDriver *poly) override
 Attach to another object.
 
bool detach () override
 Detach the object (you must have first called attach).
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver.
 
bool close () override
 Close the DeviceDriver.
 
void run () override
 Loop function.
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (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 DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others.
 
- Public Member Functions inherited from yarp::dev::WrapperSingle
 ~WrapperSingle () override
 Destructor.
 
bool attachAll (const yarp::dev::PolyDriverList &drivers) final
 Attach to a list of objects.
 
bool detachAll () final
 Detach the object (you must have first called attach).
 
- Public Member Functions inherited from yarp::dev::IWrapper
virtual ~IWrapper ()
 Destructor.
 
- Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor.
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor.
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor.
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread.
 
void step ()
 Call this to "step" the thread rather than starting it.
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).
 
void askToStop ()
 Stop the thread.
 
bool isRunning () const
 Returns true when the thread is started, false otherwise.
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise.
 
bool setPeriod (double period)
 Set the (new) period of the thread.
 
double getPeriod () const
 Return the current period of the thread.
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed.
 
void resume ()
 Resume the thread if previously suspended.
 
void resetStat ()
 Reset thread statistics.
 
double getEstimatedPeriod () const
 Return estimated period since last reset.
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset.
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset.
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset.
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset.
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that.
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that.
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that.
 

Additional Inherited Members

- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool threadInit ()
 Initialization method.
 
virtual void threadRelease ()
 Release method.
 
virtual void beforeStart ()
 Called just before a new thread starts.
 
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().
 

Detailed Description

rgbdToPointCloudSensor_nws_ros2: A Network grabber for kinect-like devices.

It attaches to an RGBD camera and publishes directly a pointcloud.

Description of input parameters

This device will produce one stream of data for the point cloud derived fron the combination of the data derived from Framegrabber and IDepthSensor interfaces. See they documentation for more details about each interface.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
period - double s 0.03 No refresh period of the broadcasted values in ms default 20ms
topic_name - string - - Yes set the name for ROS point cloud topic must start with a leading '/'
frame_id - string - Yes set the name of the reference frame
node_name - string - - Yes set the name for ROS node must start with a leading '/'

ROS2 message type used is sensor_msgs/PointCloud2.msg ( https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg) Some example of configuration files:

Example of configuration file using .ini format.

device rgbdToPointCloudSensor_nws_ros2
subdevice <RGBDsensor>
period 33
topic_name /<robotName>/RGBDToPointCloud
frame_id /<robotName>/<framed_Id>
node_name /<robotName>/RGBDToPointCloudSensorNode

Definition at line 63 of file RgbdToPointCloudSensor_nws_ros2.h.

Constructor & Destructor Documentation

◆ RgbdToPointCloudSensor_nws_ros2() [1/3]

RgbdToPointCloudSensor_nws_ros2::RgbdToPointCloudSensor_nws_ros2 ( )

Definition at line 27 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ RgbdToPointCloudSensor_nws_ros2() [2/3]

RgbdToPointCloudSensor_nws_ros2::RgbdToPointCloudSensor_nws_ros2 ( const RgbdToPointCloudSensor_nws_ros2 )
delete

◆ RgbdToPointCloudSensor_nws_ros2() [3/3]

RgbdToPointCloudSensor_nws_ros2::RgbdToPointCloudSensor_nws_ros2 ( RgbdToPointCloudSensor_nws_ros2 &&  )
deletenoexcept

◆ ~RgbdToPointCloudSensor_nws_ros2()

RgbdToPointCloudSensor_nws_ros2::~RgbdToPointCloudSensor_nws_ros2 ( )
overridedefault

Member Function Documentation

◆ attach()

bool RgbdToPointCloudSensor_nws_ros2::attach ( yarp::dev::PolyDriver driver)
overridevirtual

Attach to another object.

Parameters
driverthe polydriver that you want to attach to.
Returns
true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 133 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ close()

bool RgbdToPointCloudSensor_nws_ros2::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 93 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ detach()

bool RgbdToPointCloudSensor_nws_ros2::detach ( )
overridevirtual

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

Returns
true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 156 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ open()

bool RgbdToPointCloudSensor_nws_ros2::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 34 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ operator=() [1/2]

RgbdToPointCloudSensor_nws_ros2 & RgbdToPointCloudSensor_nws_ros2::operator= ( const RgbdToPointCloudSensor_nws_ros2 )
delete

◆ operator=() [2/2]

RgbdToPointCloudSensor_nws_ros2 & RgbdToPointCloudSensor_nws_ros2::operator= ( RgbdToPointCloudSensor_nws_ros2 &&  )
deletenoexcept

◆ run()

void RgbdToPointCloudSensor_nws_ros2::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 103 of file RgbdToPointCloudSensor_nws_ros2.cpp.


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