Rangefinder2D_nwc_ros2: A Network grabber for 2D Rangefinder devices More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/rangefinder2D_nwc_ros2/Rangefinder2D_nwc_ros2.h>

Inheritance diagram for Rangefinder2D_nwc_ros2:

Public Member Functions
	Rangefinder2D_nwc_ros2 ()

	Rangefinder2D_nwc_ros2 (const Rangefinder2D_nwc_ros2 &)=delete

	Rangefinder2D_nwc_ros2 (Rangefinder2D_nwc_ros2 &&) noexcept=delete

Rangefinder2D_nwc_ros2 &	operator= (const Rangefinder2D_nwc_ros2 &)=delete

Rangefinder2D_nwc_ros2 &	operator= (Rangefinder2D_nwc_ros2 &&) noexcept=delete

	~Rangefinder2D_nwc_ros2 () override=default

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

void	callback (sensor_msgs::msg::LaserScan::SharedPtr msg, std::string topic)

bool	getLaserMeasurement (std::vector< yarp::sig::LaserMeasurementData > &data, double *timestamp=nullptr) override
	Get the device measurements.

bool	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr) override
	Get the device measurements.

bool	getDeviceStatus (Device_status &status) override
	get the device status

bool	getDistanceRange (double &min, double &max) override
	get the device detection range

bool	setDistanceRange (double min, double max) override
	set the device detection range.

bool	getScanLimits (double &min, double &max) override
	get the scan angular range.

bool	setScanLimits (double min, double max) override
	set the scan angular range.

bool	getHorizontalResolution (double &step) override
	get the angular step between two measurements.

bool	setHorizontalResolution (double step) override
	get the angular step between two measurements (if available)

bool	getScanRate (double &rate) override
	get the scan rate (scans per seconds)

bool	setScanRate (double rate) override
	set the scan rate (scans per seconds)

bool	getDeviceInfo (std::string &device_info) override
	get the device hardware characteristics

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::IRangefinder2D
virtual	~IRangefinder2D ()

Public Attributes
Ros2Spinner *	m_spinner {nullptr}

Additional Inherited Members
Public Types inherited from yarp::dev::IRangefinder2D
enum	Device_status { DEVICE_OK_STANDBY = 0 , DEVICE_OK_IN_USE = 1 , DEVICE_GENERAL_ERROR = 2 , DEVICE_TIMEOUT = 3 }

Detailed Description

Rangefinder2D_nwc_ros2: A Network grabber for 2D Rangefinder devices

Documentation to be added

Definition at line 32 of file Rangefinder2D_nwc_ros2.h.

Constructor & Destructor Documentation

◆ Rangefinder2D_nwc_ros2() [1/3]

Rangefinder2D_nwc_ros2::Rangefinder2D_nwc_ros2 ( )

Definition at line 29 of file Rangefinder2D_nwc_ros2.cpp.

◆ Rangefinder2D_nwc_ros2() [2/3]

Rangefinder2D_nwc_ros2::Rangefinder2D_nwc_ros2 ( const Rangefinder2D_nwc_ros2 & )

delete

◆ Rangefinder2D_nwc_ros2() [3/3]

Rangefinder2D_nwc_ros2::Rangefinder2D_nwc_ros2 ( Rangefinder2D_nwc_ros2 && )

deletenoexcept

◆ ~Rangefinder2D_nwc_ros2()

Rangefinder2D_nwc_ros2::~Rangefinder2D_nwc_ros2 ( )

overridedefault

Member Function Documentation

◆ callback()

void Rangefinder2D_nwc_ros2::callback	(	sensor_msgs::msg::LaserScan::SharedPtr	msg,
		std::string	topic
	)

Definition at line 59 of file Rangefinder2D_nwc_ros2.cpp.

◆ close()

bool Rangefinder2D_nwc_ros2::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 50 of file Rangefinder2D_nwc_ros2.cpp.

◆ getDeviceInfo()

bool Rangefinder2D_nwc_ros2::getDeviceInfo ( std::string & device_info )

overridevirtual

get the device hardware characteristics

Parameters

device_info string containing the device infos

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 177 of file Rangefinder2D_nwc_ros2.cpp.

◆ getDeviceStatus()

bool Rangefinder2D_nwc_ros2::getDeviceStatus ( Device_status & status )

overridevirtual

get the device status

Parameters

status the device status

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 105 of file Rangefinder2D_nwc_ros2.cpp.

◆ getDistanceRange()

bool Rangefinder2D_nwc_ros2::getDistanceRange	(	double &	min,
		double &	max
	)

overridevirtual

get the device detection range

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 112 of file Rangefinder2D_nwc_ros2.cpp.

◆ getHorizontalResolution()

bool Rangefinder2D_nwc_ros2::getHorizontalResolution ( double & step )

overridevirtual

get the angular step between two measurements.

Parameters

step	the angular step between two measurements

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 146 of file Rangefinder2D_nwc_ros2.cpp.

◆ getLaserMeasurement()

bool Rangefinder2D_nwc_ros2::getLaserMeasurement	(	std::vector< yarp::sig::LaserMeasurementData > &	data,
		double *	timestamp = `nullptr`
	)

overridevirtual

Get the device measurements.

Parameters

data	a vector containing the measurement data, expressed in Cartesian/polar format
timestamp	the timestamp of the retrieved data.

Returns: true/false

Implements yarp::dev::IRangefinder2D.

Definition at line 88 of file Rangefinder2D_nwc_ros2.cpp.

◆ getRawData()

bool Rangefinder2D_nwc_ros2::getRawData	(	yarp::sig::Vector &	data,
		double *	timestamp = `nullptr`
	)

overridevirtual

Get the device measurements.

Parameters

ranges	the vector containing the raw measurement data, as acquired by the device.
timestamp	the timestamp of the retrieved data.

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 96 of file Rangefinder2D_nwc_ros2.cpp.

◆ getScanLimits()

bool Rangefinder2D_nwc_ros2::getScanLimits	(	double &	min,
		double &	max
	)

overridevirtual

get the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 129 of file Rangefinder2D_nwc_ros2.cpp.

◆ getScanRate()

bool Rangefinder2D_nwc_ros2::getScanRate ( double & rate )

overridevirtual

get the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 162 of file Rangefinder2D_nwc_ros2.cpp.

◆ open()

bool Rangefinder2D_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 33 of file Rangefinder2D_nwc_ros2.cpp.

◆ operator=() [1/2]

Rangefinder2D_nwc_ros2 & Rangefinder2D_nwc_ros2::operator= ( const Rangefinder2D_nwc_ros2 & )

delete

◆ operator=() [2/2]

Rangefinder2D_nwc_ros2 & Rangefinder2D_nwc_ros2::operator= ( Rangefinder2D_nwc_ros2 && )

deletenoexcept

◆ setDistanceRange()

bool Rangefinder2D_nwc_ros2::setDistanceRange	(	double	min,
		double	max
	)

overridevirtual

set the device detection range.

Invalid setting will be discarded.

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 121 of file Rangefinder2D_nwc_ros2.cpp.

◆ setHorizontalResolution()

bool Rangefinder2D_nwc_ros2::setHorizontalResolution ( double step )

overridevirtual

get the angular step between two measurements (if available)

Parameters

step	the angular step between two measurements

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 154 of file Rangefinder2D_nwc_ros2.cpp.

◆ setScanLimits()

bool Rangefinder2D_nwc_ros2::setScanLimits	(	double	min,
		double	max
	)

overridevirtual

set the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 138 of file Rangefinder2D_nwc_ros2.cpp.

◆ setScanRate()

bool Rangefinder2D_nwc_ros2::setScanRate ( double rate )

overridevirtual

set the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 169 of file Rangefinder2D_nwc_ros2.cpp.

Member Data Documentation

◆ m_spinner

Ros2Spinner* Rangefinder2D_nwc_ros2::m_spinner {nullptr}

Definition at line 50 of file Rangefinder2D_nwc_ros2.h.

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

opt-modules/yarp-devices-ros2/src/devices/rangefinder2D_nwc_ros2/Rangefinder2D_nwc_ros2.h
opt-modules/yarp-devices-ros2/src/devices/rangefinder2D_nwc_ros2/Rangefinder2D_nwc_ros2.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Rangefinder2D_nwc_ros2() [1/3]

◆ Rangefinder2D_nwc_ros2() [2/3]

◆ Rangefinder2D_nwc_ros2() [3/3]

◆ ~Rangefinder2D_nwc_ros2()

Member Function Documentation

◆ callback()

◆ close()

◆ getDeviceInfo()

◆ getDeviceStatus()

◆ getDistanceRange()

◆ getHorizontalResolution()

◆ getLaserMeasurement()

◆ getRawData()

◆ getScanLimits()

◆ getScanRate()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

Member Data Documentation

◆ m_spinner