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IMURosPublisher: This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Imu. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros/src/devices/multipleAnalogSensorsRosPublishers/IMURosPublisher.h>

+ Inheritance diagram for IMURosPublisher:

Public Member Functions

void run () override
 Loop function.
- Public Member Functions inherited from GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Imu >
 GenericSensorRosPublisher ()
virtual ~GenericSensorRosPublisher ()
bool open (yarp::os::Searchable &params) override
 Open the DeviceDriver.
bool close () override
 Close the DeviceDriver.
bool attachAll (const yarp::dev::PolyDriverList &p) override
 Attach to a list of objects.
bool detachAll () override
 Detach the object (you must have first called attach).
void threadRelease () override
 Release method.
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
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.
- 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
 ~DeviceDriver () override
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::os::IConfig
virtual ~IConfig ()
virtual bool configure (Searchable &config)
 Change online parameters.
- Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()

Protected Member Functions

bool viewInterfaces () override
- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool threadInit ()
 Initialization 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().

Additional Inherited Members

- Protected Attributes inherited from GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Imu >
double m_periodInS
std::string m_publisherName
std::string m_rosNodeName
yarp::os::Publisher< yarp::rosmsg::sensor_msgs::Imum_publisher
size_t m_msg_counter
double m_timestamp
std::string m_framename
const size_t m_sens_index

Detailed Description

IMURosPublisher: This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Imu.

YARP device name

The parameters accepted by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
topic - string - - Yes The name of the ROS topic opened by this device. MUST start with a '/' character
node_name - string - $topic + "_node" No The name of the ROS node opened by this device Autogenerated by default
period - double s - Yes Refresh period of the broadcasted values in seconds

Definition at line 31 of file IMURosPublisher.h.

Member Function Documentation

◆ run()

void IMURosPublisher::run ( )

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.

Reimplemented from GenericSensorRosPublisher< yarp::rosmsg::sensor_msgs::Imu >.

Definition at line 45 of file IMURosPublisher.cpp.

◆ viewInterfaces()

bool IMURosPublisher::viewInterfaces ( )

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