Basic data source class. More...

#include <nav2_collision_monitor/include/nav2_collision_monitor/source.hpp>

Inheritance diagram for nav2_collision_monitor::Source:

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Public Member Functions
	Source (const nav2_util::LifecycleNode::WeakPtr &node, const std::string &source_name, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const std::string &base_frame_id, const std::string &global_frame_id, const tf2::Duration &transform_tolerance, const rclcpp::Duration &source_timeout, const bool base_shift_correction)
	Source constructor. More...

virtual	~Source ()
	Source destructor.

virtual void	getData (const rclcpp::Time &curr_time, std::vector< Point > &data) const =0
	Adds latest data from source to the data array. Empty virtual method intended to be used in child implementations. More...

bool	getEnabled () const
	Obtains source enabled state. More...

Protected Member Functions
bool	configure ()
	Source configuration routine. More...

void	getCommonParameters (std::string &source_topic)
	Supporting routine obtaining ROS-parameters common for all data sources. More...

bool	sourceValid (const rclcpp::Time &source_time, const rclcpp::Time &curr_time) const
	Checks whether the source data might be considered as valid. More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Attributes
nav2_util::LifecycleNode::WeakPtr	node_
	Collision Monitor node.

rclcpp::Logger	logger_ {rclcpp::get_logger("collision_monitor")}
	Collision monitor node logger stored for further usage.

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_
	Dynamic parameters handler.

std::string	source_name_
	Name of data source.

std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
	TF buffer.

std::string	base_frame_id_
	Robot base frame ID.

std::string	global_frame_id_
	Global frame ID for correct transform calculation.

tf2::Duration	transform_tolerance_
	Transform tolerance.

rclcpp::Duration	source_timeout_
	Maximum time interval in which data is considered valid.

bool	base_shift_correction_
	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time.

bool	enabled_
	Whether source is enabled.

Detailed Description

Basic data source class.

Definition at line 37 of file source.hpp.

Constructor & Destructor Documentation

◆ Source()

nav2_collision_monitor::Source::Source	(	const nav2_util::LifecycleNode::WeakPtr &	node,
		const std::string &	source_name,
		const std::shared_ptr< tf2_ros::Buffer >	tf_buffer,
		const std::string &	base_frame_id,
		const std::string &	global_frame_id,
		const tf2::Duration &	transform_tolerance,
		const rclcpp::Duration &	source_timeout,
		const bool	base_shift_correction
	)

Source constructor.

Parameters

node	Collision Monitor node pointer
source_name	Name of data source
tf_buffer	Shared pointer to a TF buffer
base_frame_id	Robot base frame ID. The output data will be transformed into this frame.
global_frame_id	Global frame ID for correct transform calculation
transform_tolerance	Transform tolerance
source_timeout	Maximum time interval in which data is considered valid
base_shift_correction	Whether to correct source data towards to base frame movement, considering the difference between current time and latest source time

Definition at line 29 of file source.cpp.

Member Function Documentation

◆ configure()

bool nav2_collision_monitor::Source::configure ( )

protected

Source configuration routine.

Returns: True in case of everything is configured correctly, or false otherwise

Definition at line 49 of file source.cpp.

References dyn_params_handler_, dynamicParametersCallback(), and node_.

Referenced by nav2_collision_monitor::PointCloud::configure(), nav2_collision_monitor::Range::configure(), and nav2_collision_monitor::Scan::configure().

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◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_collision_monitor::Source::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 102 of file source.cpp.

References enabled_, and source_name_.

Referenced by configure().

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◆ getCommonParameters()

void nav2_collision_monitor::Source::getCommonParameters ( std::string & source_topic )

protected

Supporting routine obtaining ROS-parameters common for all data sources.

Parameters

source_topic Output name of source subscription topic

Definition at line 60 of file source.cpp.

References enabled_, node_, and source_name_.

Referenced by nav2_collision_monitor::Scan::configure(), nav2_collision_monitor::PointCloud::getParameters(), and nav2_collision_monitor::Range::getParameters().

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◆ getData()

virtual void nav2_collision_monitor::Source::getData	(	const rclcpp::Time &	curr_time,
		std::vector< Point > &	data
	)		const

pure virtual

Adds latest data from source to the data array. Empty virtual method intended to be used in child implementations.

Parameters

curr_time	Current node time for data interpolation
data	Array where the data from source to be added. Added data is transformed to base_frame_id_ coordinate system at curr_time.

Implemented in nav2_collision_monitor::Scan, nav2_collision_monitor::Range, and nav2_collision_monitor::PointCloud.

◆ getEnabled()

bool nav2_collision_monitor::Source::getEnabled ( ) const

Obtains source enabled state.

Returns: Whether source is enabled

Definition at line 96 of file source.cpp.

References enabled_.

◆ sourceValid()

bool nav2_collision_monitor::Source::sourceValid	(	const rclcpp::Time &	source_time,
		const rclcpp::Time &	curr_time
	)		const

protected

Checks whether the source data might be considered as valid.

Parameters

source_time	Timestamp of latest obtained data
curr_time	Current node time for source verification

Returns: True if data source is valid, otherwise false

Definition at line 77 of file source.cpp.

References logger_, source_name_, and source_timeout_.

Referenced by nav2_collision_monitor::PointCloud::getData(), nav2_collision_monitor::Range::getData(), and nav2_collision_monitor::Scan::getData().

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

nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
nav2_collision_monitor/src/source.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Source()

Member Function Documentation

◆ configure()

◆ dynamicParametersCallback()

◆ getCommonParameters()

◆ getData()

◆ getEnabled()

◆ sourceValid()