YARP
Yet Another Robot Platform
 
Loading...
Searching...
No Matches
FrameTransformSet_nwc_ros2 Class Reference

frameTransformSet_nwc_ros2: A ros network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to a ros2 topic. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.h>

+ Inheritance diagram for FrameTransformSet_nwc_ros2:

Public Member Functions

 FrameTransformSet_nwc_ros2 (double tperiod=0.010)
 
 ~FrameTransformSet_nwc_ros2 ()=default
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver.
 
bool close () override
 Close the DeviceDriver.
 
void run () override
 Loop function.
 
bool setTransforms (const std::vector< yarp::math::FrameTransform > &transforms) override
 Save some frame transforms in a storage.
 
bool setTransform (const yarp::math::FrameTransform &transform) override
 Save a frame transform in a storage.
 
bool deleteTransform (std::string t1, std::string t2) override
 Delete a single transform in the storage.
 
bool clearAll () override
 Delete all transforms in a storage.
 
bool publishFrameTransforms ()
 
void ros2TimeFromYarp (double yarpTime, builtin_interfaces::msg::Time &ros2Time)
 
void yarpTransformToROS2Transform (const yarp::math::FrameTransform &input, geometry_msgs::msg::TransformStamped &output)
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (DeviceDriver &&other) noexcept=delete
 
virtual ~DeviceDriver ()
 
virtual std::string id () const
 Return the id assigned to the PolyDriver.
 
virtual void setId (const std::string &id)
 Set the id for this device.
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver.
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others.
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor.
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor.
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread.
 
void step ()
 Call this to "step" the thread rather than starting it.
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).
 
void askToStop ()
 Stop the thread.
 
bool isRunning () const
 Returns true when the thread is started, false otherwise.
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise.
 
bool setPeriod (double period)
 Set the (new) period of the thread.
 
double getPeriod () const
 Return the current period of the thread.
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed.
 
void resume ()
 Resume the thread if previously suspended.
 
void resetStat ()
 Reset thread statistics.
 
double getEstimatedPeriod () const
 Return estimated period since last reset.
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset.
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset.
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset.
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset.
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that.
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that.
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that.
 
- Public Member Functions inherited from yarp::dev::IFrameTransformStorageSet
virtual ~IFrameTransformStorageSet ()
 

Additional Inherited Members

- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool threadInit ()
 Initialization method.
 
virtual void threadRelease ()
 Release method.
 
virtual void beforeStart ()
 Called just before a new thread starts.
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().
 

Detailed Description

frameTransformSet_nwc_ros2: A ros network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to a ros2 topic.

See FrameTransform: start all the required devices needed for transforming frames for additional info.

Parameters

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description
GENERAL - group - - No
- period double seconds 0.01 No The PeriodicThread period in seconds
- refresh_interval double seconds 0.1 No The time interval outside which timed ft will be deleted
- asynch_pub int - 1 No If 1, the fts will be published not only every "period" seconds but also when set functions are called
ROS2 - group - - No
- ft_node string - /tfNodeGet No The name of the ROS2 node
- ft_topic string - /tf No The name of the ROS2 topic on which fts will be published
- ft_topic_static string - /tf_static No The name of the ROS2 topic on which static fts will be published

N.B. pay attention to the difference between tf and ft

Example of configuration file using .ini format.

device frameTransformSet_nwc_ros2
[GENERAL]
period 0.05
refresh_interval 0.2
[ROS2]
ft_topic /tf
ft_topic_static /tf_static
ft_node /tfNodeGet

Definition at line 67 of file frameTransformSet_nwc_ros2.h.

Constructor & Destructor Documentation

◆ FrameTransformSet_nwc_ros2()

FrameTransformSet_nwc_ros2::FrameTransformSet_nwc_ros2 ( double  tperiod = 0.010)

Definition at line 23 of file frameTransformSet_nwc_ros2.cpp.

◆ ~FrameTransformSet_nwc_ros2()

FrameTransformSet_nwc_ros2::~FrameTransformSet_nwc_ros2 ( )
default

Member Function Documentation

◆ clearAll()

bool FrameTransformSet_nwc_ros2::clearAll ( )
overridevirtual

Delete all transforms in a storage.

Returns
true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 216 of file frameTransformSet_nwc_ros2.cpp.

◆ close()

bool FrameTransformSet_nwc_ros2::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 75 of file frameTransformSet_nwc_ros2.cpp.

◆ deleteTransform()

bool FrameTransformSet_nwc_ros2::deleteTransform ( std::string  src,
std::string  dst 
)
overridevirtual

Delete a single transform in the storage.

Parameters
srcthe source of frame transform to delete
dstthe destination of frame transform to delete
Returns
true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 209 of file frameTransformSet_nwc_ros2.cpp.

◆ open()

bool FrameTransformSet_nwc_ros2::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 29 of file frameTransformSet_nwc_ros2.cpp.

◆ publishFrameTransforms()

bool FrameTransformSet_nwc_ros2::publishFrameTransforms ( )

Definition at line 173 of file frameTransformSet_nwc_ros2.cpp.

◆ ros2TimeFromYarp()

void FrameTransformSet_nwc_ros2::ros2TimeFromYarp ( double  yarpTime,
builtin_interfaces::msg::Time &  ros2Time 
)

Definition at line 133 of file frameTransformSet_nwc_ros2.cpp.

◆ run()

void FrameTransformSet_nwc_ros2::run ( )
overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 85 of file frameTransformSet_nwc_ros2.cpp.

◆ setTransform()

bool FrameTransformSet_nwc_ros2::setTransform ( const yarp::math::FrameTransform transform)
overridevirtual

Save a frame transform in a storage.

Parameters
transformsthe transform to be stored
Returns
true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 114 of file frameTransformSet_nwc_ros2.cpp.

◆ setTransforms()

bool FrameTransformSet_nwc_ros2::setTransforms ( const std::vector< yarp::math::FrameTransform > &  transforms)
overridevirtual

Save some frame transforms in a storage.

Parameters
transformsthe list of transforms to be stored
Returns
true/false

Implements yarp::dev::IFrameTransformStorageSet.

Definition at line 95 of file frameTransformSet_nwc_ros2.cpp.

◆ yarpTransformToROS2Transform()

void FrameTransformSet_nwc_ros2::yarpTransformToROS2Transform ( const yarp::math::FrameTransform input,
geometry_msgs::msg::TransformStamped &  output 
)

Definition at line 144 of file frameTransformSet_nwc_ros2.cpp.


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