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Class nebula::ros::SampleRosWrapper

ClassList > nebula > ros > SampleRosWrapper

ROS 2 wrapper for the Sample LiDAR driver. More...

  • #include <sample_ros_wrapper.hpp>

Inherits the following classes: rclcpp::Node

Classes

Type Name
struct Error

Public Functions

Type Name
SampleRosWrapper (const rclcpp::NodeOptions & options)
Construct the ROS 2 node and initialize decoder + optional HW stream.
~SampleRosWrapper () override

Detailed Description

This node bridges the C++ driver with ROS 2. Responsibilities: * Turn ROS 2 parameters into sensor configuration * Initialize decoder and hardware interface * Forward packets from HW interface and pass to decoder * Convert decoded point clouds to ROS messages * Publish point clouds on ROS topics * Optionally: provide services for runtime configuration

Public Functions Documentation

function SampleRosWrapper

Construct the ROS 2 node and initialize decoder + optional HW stream. 

explicit nebula::ros::SampleRosWrapper::SampleRosWrapper (
    const rclcpp::NodeOptions & options
)

Parameters:

  • options Standard ROS 2 component/node options.

Exception:

  • std::runtime_error on invalid configuration or startup failures.

function ~SampleRosWrapper

nebula::ros::SampleRosWrapper::~SampleRosWrapper () override

The documentation for this class was generated from the following file src/nebula_sample/nebula_sample/include/nebula_sample/sample_ros_wrapper.hpp