GetSyncedImageAndPointCloud Class

Get data from time-synchronized image and point cloud topics and populate them in output ports. More...

Declaration

class moveit_pro::behaviors::GetSyncedImageAndPointCloud { ... }

Included Headers

#include <get_synced_image_and_point_cloud.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Private Member Typedefs Index

using	PointCloud2 = sensor_msgs::msg::PointCloud2
using	Image = sensor_msgs::msg::Image
using	CameraInfo = sensor_msgs::msg::CameraInfo
using	SyncPolicy = message_filters::sync_policies::ApproximateTime< PointCloud2, Image, CameraInfo >
using	Synchronizer = message_filters::Synchronizer< SyncPolicy >

Public Constructors Index

	GetSyncedImageAndPointCloud (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	onStart () override
BT::NodeStatus	onRunning () override
void	onHalted () override

Private Member Functions Index

void	syncCallback (const PointCloud2::ConstSharedPtr &point_cloud_msg, const Image::ConstSharedPtr &rgb_image_msg, const CameraInfo::ConstSharedPtr &rgb_camera_info_msg)
void	unsubscribeTopics ()

Private Member Attributes Index

message_filters::Subscriber< PointCloud2 >	sub_point_cloud_
image_transport::SubscriberFilter	sub_rgb_image_
message_filters::Subscriber< CameraInfo >	sub_rgb_camera_info_
std::shared_ptr< Synchronizer >	synchronizer_
std::atomic< bool >	sync_done_
rclcpp::Time	start_time_

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Private Static Attributes Index

static constexpr std::size_t	kMessageSyncQueueSize = 10
static constexpr std::chrono::seconds	kMessageSyncTimeout { 5 }
static constexpr auto	kTopicNamePointCloud = "point_cloud_topic_name"
static constexpr auto	kTopicNameRgbImage = "rgb_image_topic_name"
static constexpr auto	kTopicNameRgbCameraInfo = "rgb_camera_info_topic_name"
static constexpr auto	kOutputNamePointCloud = "point_cloud"
static constexpr auto	kOutputNameRgbImage = "rgb_image"
static constexpr auto	kOutputNameRgbCameraInfo = "rgb_camera_info"
static constexpr auto	kDescriptionGetSyncedImageAndPointCloud = ...

Description

Get data from time-synchronized image and point cloud topics and populate them in output ports.

Data Port Name	Port Type	Object Type
rgb_camera_info_topic_name	Input	std::string
rgb_image_topic_name	Input	std::string
point_cloud_topic_name	Input	std::string
point_cloud	Output	sensor_msgs::msg::PointCloud2
rgb_image	Output	sensor_msgs::msg::Image
rgb_camera_info	Output	sensor_msgs::msg::CameraInfo

Definition at line 37 of file get_synced_image_and_point_cloud.hpp.

Private Member Typedefs

CameraInfo

using moveit_pro::behaviors::GetSyncedImageAndPointCloud::CameraInfo = sensor_msgs::msg::CameraInfo

Definition at line 56 of file get_synced_image_and_point_cloud.hpp.

Image

using moveit_pro::behaviors::GetSyncedImageAndPointCloud::Image = sensor_msgs::msg::Image

Definition at line 55 of file get_synced_image_and_point_cloud.hpp.

PointCloud2

using moveit_pro::behaviors::GetSyncedImageAndPointCloud::PointCloud2 = sensor_msgs::msg::PointCloud2

Definition at line 54 of file get_synced_image_and_point_cloud.hpp.

Synchronizer

using moveit_pro::behaviors::GetSyncedImageAndPointCloud::Synchronizer = message_filters::Synchronizer<SyncPolicy>

Definition at line 67 of file get_synced_image_and_point_cloud.hpp.

SyncPolicy

using moveit_pro::behaviors::GetSyncedImageAndPointCloud::SyncPolicy = message_filters::sync_policies::ApproximateTime<PointCloud2, Image, CameraInfo>

Definition at line 66 of file get_synced_image_and_point_cloud.hpp.

Public Constructors

GetSyncedImageAndPointCloud()

moveit_pro::behaviors::GetSyncedImageAndPointCloud::GetSyncedImageAndPointCloud (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources)

Declaration at line 40 of file get_synced_image_and_point_cloud.hpp, definition at line 23 of file get_synced_image_and_point_cloud.cpp.

Public Member Functions

onHalted()

void moveit_pro::behaviors::GetSyncedImageAndPointCloud::onHalted ()

Declaration at line 51 of file get_synced_image_and_point_cloud.hpp, definition at line 147 of file get_synced_image_and_point_cloud.cpp.

onRunning()

BT::NodeStatus moveit_pro::behaviors::GetSyncedImageAndPointCloud::onRunning ()

Declaration at line 49 of file get_synced_image_and_point_cloud.hpp, definition at line 127 of file get_synced_image_and_point_cloud.cpp.

onStart()

BT::NodeStatus moveit_pro::behaviors::GetSyncedImageAndPointCloud::onStart ()

Declaration at line 47 of file get_synced_image_and_point_cloud.hpp, definition at line 54 of file get_synced_image_and_point_cloud.cpp.

Private Member Functions

syncCallback()

void moveit_pro::behaviors::GetSyncedImageAndPointCloud::syncCallback (const PointCloud2::ConstSharedPtr & point_cloud_msg, const Image::ConstSharedPtr & rgb_image_msg, const CameraInfo::ConstSharedPtr & rgb_camera_info_msg)

Declaration at line 58 of file get_synced_image_and_point_cloud.hpp, definition at line 114 of file get_synced_image_and_point_cloud.cpp.

unsubscribeTopics()

void moveit_pro::behaviors::GetSyncedImageAndPointCloud::unsubscribeTopics ()

Declaration at line 60 of file get_synced_image_and_point_cloud.hpp, definition at line 107 of file get_synced_image_and_point_cloud.cpp.

Private Member Attributes

start_time_

rclcpp::Time moveit_pro::behaviors::GetSyncedImageAndPointCloud::start_time_

Definition at line 71 of file get_synced_image_and_point_cloud.hpp.

sub_point_cloud_

message_filters::Subscriber<PointCloud2> moveit_pro::behaviors::GetSyncedImageAndPointCloud::sub_point_cloud_

Definition at line 62 of file get_synced_image_and_point_cloud.hpp.

sub_rgb_camera_info_

message_filters::Subscriber<CameraInfo> moveit_pro::behaviors::GetSyncedImageAndPointCloud::sub_rgb_camera_info_

Definition at line 64 of file get_synced_image_and_point_cloud.hpp.

sub_rgb_image_

image_transport::SubscriberFilter moveit_pro::behaviors::GetSyncedImageAndPointCloud::sub_rgb_image_

Definition at line 63 of file get_synced_image_and_point_cloud.hpp.

sync_done_

std::atomic<bool> moveit_pro::behaviors::GetSyncedImageAndPointCloud::sync_done_

Definition at line 70 of file get_synced_image_and_point_cloud.hpp.

synchronizer_

std::shared_ptr<Synchronizer> moveit_pro::behaviors::GetSyncedImageAndPointCloud::synchronizer_

Definition at line 68 of file get_synced_image_and_point_cloud.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::GetSyncedImageAndPointCloud::metadata ()

static

Declaration at line 45 of file get_synced_image_and_point_cloud.hpp, definition at line 48 of file get_synced_image_and_point_cloud.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::GetSyncedImageAndPointCloud::providedPorts ()

static

Declaration at line 43 of file get_synced_image_and_point_cloud.hpp, definition at line 29 of file get_synced_image_and_point_cloud.cpp.

Private Static Attributes

kDescriptionGetSyncedImageAndPointCloud

constexpr auto moveit_pro::behaviors::GetSyncedImageAndPointCloud::kDescriptionGetSyncedImageAndPointCloud

constexpr static

Initialiser

= R"(               <p>                   Get data from time-synchronized image and point cloud topics and populate them in output ports.               </p>           )"

Definition at line 84 of file get_synced_image_and_point_cloud.hpp.

kMessageSyncQueueSize

constexpr std::size_t moveit_pro::behaviors::GetSyncedImageAndPointCloud::kMessageSyncQueueSize = 10

constexpr static

Definition at line 73 of file get_synced_image_and_point_cloud.hpp.

kMessageSyncTimeout

constexpr std::chrono::seconds moveit_pro::behaviors::GetSyncedImageAndPointCloud::kMessageSyncTimeout { 5 }

constexpr static

Definition at line 74 of file get_synced_image_and_point_cloud.hpp.

kOutputNamePointCloud

constexpr auto moveit_pro::behaviors::GetSyncedImageAndPointCloud::kOutputNamePointCloud = "point_cloud"

constexpr static

Definition at line 80 of file get_synced_image_and_point_cloud.hpp.

kOutputNameRgbCameraInfo

constexpr auto moveit_pro::behaviors::GetSyncedImageAndPointCloud::kOutputNameRgbCameraInfo = "rgb_camera_info"

constexpr static

Definition at line 82 of file get_synced_image_and_point_cloud.hpp.

kOutputNameRgbImage

constexpr auto moveit_pro::behaviors::GetSyncedImageAndPointCloud::kOutputNameRgbImage = "rgb_image"

constexpr static

Definition at line 81 of file get_synced_image_and_point_cloud.hpp.

kTopicNamePointCloud

constexpr auto moveit_pro::behaviors::GetSyncedImageAndPointCloud::kTopicNamePointCloud = "point_cloud_topic_name"

constexpr static

Definition at line 76 of file get_synced_image_and_point_cloud.hpp.

kTopicNameRgbCameraInfo

constexpr auto moveit_pro::behaviors::GetSyncedImageAndPointCloud::kTopicNameRgbCameraInfo = "rgb_camera_info_topic_name"

constexpr static

Definition at line 78 of file get_synced_image_and_point_cloud.hpp.

kTopicNameRgbImage

constexpr auto moveit_pro::behaviors::GetSyncedImageAndPointCloud::kTopicNameRgbImage = "rgb_image_topic_name"

constexpr static

Definition at line 77 of file get_synced_image_and_point_cloud.hpp.

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

• get_synced_image_and_point_cloud.hpp
• get_synced_image_and_point_cloud.cpp

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