autoware::drivers::velodyne_nodes::VelodyneCloudNode< SensorData > Class Template Reference

#include <velodyne_cloud_node.hpp>

Inheritance diagram for autoware::drivers::velodyne_nodes::VelodyneCloudNode< SensorData >:

Collaboration diagram for autoware::drivers::velodyne_nodes::VelodyneCloudNode< SensorData >:

Public Types
using	VelodyneTranslatorT = velodyne_driver::VelodyneTranslator< SensorData >
using	Config = typename VelodyneTranslatorT::Config
using	Packet = typename VelodyneTranslatorT::Packet
using	UdpDriverNode = udp_driver::UdpDriverNode< Packet, sensor_msgs::msg::PointCloud2 >

Public Member Functions
	VelodyneCloudNode (const std::string &node_name, const std::string &ip, const uint16_t port, const std::string &frame_id, const std::size_t cloud_size, const Config &config)
	Default constructor, starts driver. More...
	VelodyneCloudNode (const std::string &node_name, const std::string &node_namespace="")
	Parameter file constructor. More...

Protected Member Functions
void	init_output (sensor_msgs::msg::PointCloud2 &output) override
bool8_t	convert (const Packet &pkt, sensor_msgs::msg::PointCloud2 &output) override
bool8_t	get_output_remainder (sensor_msgs::msg::PointCloud2 &output) override

Detailed Description

template<typename SensorData>
class autoware::drivers::velodyne_nodes::VelodyneCloudNode< SensorData >

Template class for the velodyne driver node that receives veldyne packets via UDP, converts the packet into a PointCloud2 message and publishes this cloud.

Template Parameters

SensorData

SensorData implementation for the specific velodyne sensor model.

Member Typedef Documentation

Config

template<typename SensorData >

using autoware::drivers::velodyne_nodes::VelodyneCloudNode< SensorData >::Config = typename VelodyneTranslatorT::Config

Packet

template<typename SensorData >

using autoware::drivers::velodyne_nodes::VelodyneCloudNode< SensorData >::Packet = typename VelodyneTranslatorT::Packet

UdpDriverNode

template<typename SensorData >

using autoware::drivers::velodyne_nodes::VelodyneCloudNode< SensorData >::UdpDriverNode = udp_driver::UdpDriverNode<Packet, sensor_msgs::msg::PointCloud2>

VelodyneTranslatorT

template<typename SensorData >

using autoware::drivers::velodyne_nodes::VelodyneCloudNode< SensorData >::VelodyneTranslatorT = velodyne_driver::VelodyneTranslator<SensorData>

Constructor & Destructor Documentation

VelodyneCloudNode() [1/2]

template<typename T >

autoware::drivers::velodyne_nodes::VelodyneCloudNode< T >::VelodyneCloudNode	(	const std::string &	node_name,
		const std::string &	ip,
		const uint16_t	port,
		const std::string &	frame_id,
		const std::size_t	cloud_size,
		const Config &	config
	)

Default constructor, starts driver.

Parameters

[in]	node_name	name of the node for rclcpp internals
[in]	ip	Expected IP of UDP packets
[in]	port	Port that this driver listens to (i.e. sensor device at ip writes to port)
[in]	frame_id	Frame id for the published point cloud messages
[in]	cloud_size	Preallocated capacity (in number of points) for the point cloud messages must be greater than PointBlock::CAPACITY
[in]	config	Config struct with rpm params

Exceptions

std::runtime_error

If cloud_size is not sufficiently large

VelodyneCloudNode() [2/2]

template<typename T >

autoware::drivers::velodyne_nodes::VelodyneCloudNode< T >::VelodyneCloudNode	(	const std::string &	node_name,
		const std::string &	node_namespace = ""
	)

Parameter file constructor.

Parameters

[in]	node_name	Name of this node
[in]	node_namespace	Namespace for this node

Member Function Documentation

convert()

template<typename T >

bool8_t autoware::drivers::velodyne_nodes::VelodyneCloudNode< T >::convert ( const Packet &  pkt, sensor_msgs::msg::PointCloud2 &  output  )

overrideprotected

get_output_remainder()

template<typename T >

bool8_t autoware::drivers::velodyne_nodes::VelodyneCloudNode< T >::get_output_remainder ( sensor_msgs::msg::PointCloud2 &  output )

overrideprotected

init_output()

template<typename T >

void autoware::drivers::velodyne_nodes::VelodyneCloudNode< T >::init_output ( sensor_msgs::msg::PointCloud2 &  output )

overrideprotected

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

• velodyne_cloud_node.hpp
• velodyne_cloud_node.cpp