ROS2 Network Wrapper Clients (NWC)

These devices connects to ROS2 network and expose a yarp::dev interface (see Network Wrapper Server and Network Wrapper Client Architecture). More...

Collaboration diagram for ROS2 Network Wrapper Clients (NWC):

Classes
class	FrameTransformGet_nwc_ros2
	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...
class	FrameTransformSet_nwc_ros2
	frameTransformSet_nwc_ros2: A ros network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to a ros2 topic. More...
class	Rangefinder2D_nwc_ros2
	Rangefinder2D_nwc_ros2: A Network grabber for 2D Rangefinder devices More...

Typedefs
typedef yarp::sig::ImageOf< yarp::sig::PixelFloat >	depthImage
	This class is an utility.

Detailed Description

These devices connects to ROS2 network and expose a yarp::dev interface (see Network Wrapper Server and Network Wrapper Client Architecture).

Typedef Documentation

depthImage

typedef yarp::sig::ImageOf<yarp::sig::PixelFloat> depthImage

This class is an utility.

Description of input parameters

This device is an nwc take a stream of data from ros2 and exposes to the user IRGBDSensor interface. See its documentation for more details about the interface.

Parameters required by this device are:shown in class: RgbdSensor_nwc_ros2_ParamsParser

example of configuration file:

Example of configuration parameters:

device rgbdSensor_nwc_ros2
rgb_data_topic /<robotName>/camera/color/image_raw
rgb_info_topic /<robotName>/camera/color/camera_info
depth_data_topic /<robotName>/depth/color/image_rect_raw
depth_info_topic /<robotName>/depth/color/camera_info

Definition at line 62 of file RgbdSensor_nwc_ros2.h.