GetPointCloud Class
Capture a point cloud. The name of the topic containing the point cloud is set through the "topic_name" parameter, and the resulting point cloud is available on the "message_out" output port. More...
Declaration
Included Headers
Base class
| class | GetMessageFromTopicBehaviorBase<MessageT> |
|
Base class for Behaviors that get the latest message from a topic specified on an input data port and set that message to an output data port. More... | |
Public Constructors Index
| GetPointCloud (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
Private Member Functions Index
| tl::expected< std::chrono::duration< double >, std::string > | getWaitForMessageTimeout () override |
|
Override getWaitForMessageTimeout to allow failing if no point cloud is received within the expected duration. More... | |
| tl::expected< std::chrono::duration< double >, std::string > | getWaitForPublisherTimeout () override |
|
Override getWaitForPublisherTimeout to allow failing if no point cloud is advertised within the expected duration. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More... | |
Private Member Attributes Index
| std::shared_future< tl::expected< bool, std::string > > | future_ |
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member. More... | |
Public Static Functions Index
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Description
Capture a point cloud. The name of the topic containing the point cloud is set through the "topic_name" parameter, and the resulting point cloud is available on the "message_out" output port.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| topic_name | input | std::string |
| message_timeout_sec | input | double |
| publisher_timeout_sec | input | double |
| message_out | output | sensor_msgs::msg::PointCloud2 |
Definition at line 27 of file get_pointcloud.hpp.
Public Constructors
GetPointCloud()
|
Declaration at line 30 of file get_pointcloud.hpp, definition at line 33 of file get_pointcloud.cpp.
Private Member Functions
getFuture()
| inline virtual |
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
Definition at line 45 of file get_pointcloud.hpp.
getWaitForMessageTimeout()
| virtual |
Override getWaitForMessageTimeout to allow failing if no point cloud is received within the expected duration.
Declaration at line 39 of file get_pointcloud.hpp, definition at line 39 of file get_pointcloud.cpp.
getWaitForPublisherTimeout()
| virtual |
Override getWaitForPublisherTimeout to allow failing if no point cloud is advertised within the expected duration.
Declaration at line 42 of file get_pointcloud.hpp, definition at line 46 of file get_pointcloud.cpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 51 of file get_pointcloud.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 35 of file get_pointcloud.hpp, definition at line 71 of file get_pointcloud.cpp.
providedPorts()
| static |
Declaration at line 33 of file get_pointcloud.hpp, definition at line 53 of file get_pointcloud.cpp.
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