Class GPSSensorBroadcaster

Defined in File gps_sensor_broadcaster.hpp

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Class Documentation

class GPSSensorBroadcaster : public controller_interface::ControllerInterface 

Public Functions

virtual controller_interface::InterfaceConfiguration command_interface_configuration() const override

virtual controller_interface::InterfaceConfiguration state_interface_configuration() const override

virtual callback_return_type on_init() override

callback_return_type on_configure(const rclcpp_lifecycle::State &previous_state) override

callback_return_type on_activate(const rclcpp_lifecycle::State &previous_state) override

callback_return_type on_deactivate(const rclcpp_lifecycle::State &previous_state) override

virtual controller_interface::return_type update(const rclcpp::Time&, const rclcpp::Duration&) override

Protected Types

using GPSSensorOption = semantic_components::GPSSensorOption 

using GPSSensorVariant = std::variant<std::monostate, semantic_components::GPSSensor<GPSSensorOption::WithCovariance>, semantic_components::GPSSensor<GPSSensorOption::WithoutCovariance>>

using StatePublisher = realtime_tools::RealtimePublisher<sensor_msgs::msg::NavSatFix>

Protected Functions

void setup_covariance()

callback_return_type setup_publisher()

Protected Attributes

GPSSensorVariant gps_sensor_

rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr sensor_state_publisher_

std::unique_ptr<StatePublisher> realtime_publisher_

std::shared_ptr<gps_sensor_broadcaster::ParamListener> param_listener_ = {}

gps_sensor_broadcaster::Params params_

std::vector<std::string> state_names_