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Class nebula::ros::HesaiDecoderWrapper

ClassList > nebula > ros > HesaiDecoderWrapper

  • #include <decoder_wrapper.hpp>

Public Functions

Type Name
HesaiDecoderWrapper (rclcpp::Node * parent_node, const std::shared_ptr< const nebula::drivers::HesaiSensorConfiguration > & config, const std::shared_ptr< const nebula::drivers::HesaiCalibrationConfigurationBase > & calibration, diagnostic_updater::Updater & diagnostic_updater, bool publish_packets)
void on_calibration_change (const std::shared_ptr< const nebula::drivers::HesaiCalibrationConfigurationBase > & new_calibration)
void on_config_change (const std::shared_ptr< const nebula::drivers::HesaiSensorConfiguration > & new_config)
void on_pointcloud_decoded (const drivers::NebulaPointCloudPtr & pointcloud, double timestamp_s)
nebula::util::expected< drivers::PacketMetadata, drivers::DecodeError > process_cloud_packet (std::unique_ptr< nebula_msgs::msg::NebulaPacket > packet_msg)
Process a cloud packet and return metadata.
nebula::Status status ()

Public Functions Documentation

function HesaiDecoderWrapper

nebula::ros::HesaiDecoderWrapper::HesaiDecoderWrapper (
    rclcpp::Node * parent_node,
    const std::shared_ptr< const nebula::drivers::HesaiSensorConfiguration > & config,
    const std::shared_ptr< const nebula::drivers::HesaiCalibrationConfigurationBase > & calibration,
    diagnostic_updater::Updater & diagnostic_updater,
    bool publish_packets
)

function on_calibration_change

void nebula::ros::HesaiDecoderWrapper::on_calibration_change (
    const std::shared_ptr< const nebula::drivers::HesaiCalibrationConfigurationBase > & new_calibration
)

function on_config_change

void nebula::ros::HesaiDecoderWrapper::on_config_change (
    const std::shared_ptr< const nebula::drivers::HesaiSensorConfiguration > & new_config
)

function on_pointcloud_decoded

void nebula::ros::HesaiDecoderWrapper::on_pointcloud_decoded (
    const drivers::NebulaPointCloudPtr & pointcloud,
    double timestamp_s
)

function process_cloud_packet

Process a cloud packet and return metadata. 

nebula::util::expected< drivers::PacketMetadata, drivers::DecodeError > nebula::ros::HesaiDecoderWrapper::process_cloud_packet (
    std::unique_ptr< nebula_msgs::msg::NebulaPacket > packet_msg
)

Parameters:

  • packet_msg The packet to process

Returns:

Expected containing metadata on success, or decode error on failure

function status

nebula::Status nebula::ros::HesaiDecoderWrapper::status ()

The documentation for this class was generated from the following file nebula_ros/include/nebula_ros/hesai/decoder_wrapper.hpp