IMU_nws_ros2: 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-ros2/src/devices/multipleAnalogSensors_nws_ros2/Imu_nws_ros2.h>

Inheritance diagram for Imu_nws_ros2:

Public Member Functions
void	run () override
	Loop function.

Public Member Functions inherited from GenericSensor_nws_ros2< sensor_msgs::msg::Imu >
	GenericSensor_nws_ros2 ()

virtual	~GenericSensor_nws_ros2 ()

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)
	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.

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::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

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().

Protected Member Functions inherited from GenericSensor_nws_ros2_ParamsParser
	GenericSensor_nws_ros2_ParamsParser ()

	~GenericSensor_nws_ros2_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override
	Return the value (represented as a string) of the requested parameter.

std::string	getConfiguration () const override
	Return the configuration of the device.

Protected Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Additional Inherited Members
Protected Attributes inherited from GenericSensor_nws_ros2< sensor_msgs::msg::Imu >
rclcpp::Node::SharedPtr	m_node

rclcpp::Publisher< sensor_msgs::msg::Imu >::SharedPtr	m_publisher

yarp::dev::PolyDriver *	m_poly

double	m_timestamp

std::string	m_framename

const size_t	m_sens_index

yarp::dev::PolyDriver	m_subdevicedriver

Protected Attributes inherited from GenericSensor_nws_ros2_ParamsParser
const std::string	m_device_classname = {"GenericSensor_nws_ros2"}

const std::string	m_device_name = {"genericSensor_nws_ros2"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_period_defaultValue = {"0.02"}

const std::string	m_node_name_defaultValue = {""}

const std::string	m_topic_name_defaultValue = {""}

double	m_period = {0.02}

std::string	m_node_name = {}

std::string	m_topic_name = {}

Detailed Description

IMU_nws_ros2: This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Imu.

YARP device name
`Imu_nws_ros2`

The parameters accepted by this device are shown in class: GenericSensor_nws_ros2_ParamsParser

Definition at line 24 of file Imu_nws_ros2.h.

Member Function Documentation

◆ run()

void Imu_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.

Reimplemented from GenericSensor_nws_ros2< sensor_msgs::msg::Imu >.

Definition at line 49 of file Imu_nws_ros2.cpp.

◆ viewInterfaces()

bool Imu_nws_ros2::viewInterfaces ( )

overrideprotectedvirtual

Implements GenericSensor_nws_ros2< sensor_msgs::msg::Imu >.

Definition at line 20 of file Imu_nws_ros2.cpp.

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

opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nws_ros2/Imu_nws_ros2.h
opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nws_ros2/Imu_nws_ros2.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ run()

◆ viewInterfaces()