rgbdToPointCloudSensor_nws_ros2: A Network grabber for kinect-like devices. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/rgbdToPointCloudSensor_nws_ros2/RgbdToPointCloudSensor_nws_ros2.h>

Inheritance diagram for RgbdToPointCloudSensor_nws_ros2:

Public Member Functions
	RgbdToPointCloudSensor_nws_ros2 ()

	RgbdToPointCloudSensor_nws_ros2 (const RgbdToPointCloudSensor_nws_ros2 &)=delete

	RgbdToPointCloudSensor_nws_ros2 (RgbdToPointCloudSensor_nws_ros2 &&) noexcept=delete

RgbdToPointCloudSensor_nws_ros2 &	operator= (const RgbdToPointCloudSensor_nws_ros2 &)=delete

RgbdToPointCloudSensor_nws_ros2 &	operator= (RgbdToPointCloudSensor_nws_ros2 &&) noexcept=delete

	~RgbdToPointCloudSensor_nws_ros2 () override=default

bool	attach (yarp::dev::PolyDriver *poly) override
	Attach to another object.

bool	detach () override
	Detach the object (you must have first called attach).

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

void	run () override
	Loop function.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (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 DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

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.

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

rgbdToPointCloudSensor_nws_ros2: A Network grabber for kinect-like devices.

It attaches to an RGBD camera and publishes directly a pointcloud.

Description of input parameters

This device will produce one stream of data for the point cloud derived fron the combination of the data derived from Framegrabber and IDepthSensor interfaces. See they documentation for more details about each interface.

Parameters required by this device are described in class: RgbdToPointClpidSensor_nws_ros2_ParamsParser

ROS2 message type used is sensor_msgs/PointCloud2.msg ( https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg) Some example of configuration files:

Example of configuration file using .ini format.

device rgbdToPointCloudSensor_nws_ros2
subdevice <RGBDsensor>
period 33
topic_name /<robotName>/RGBDToPointCloud
frame_id /<robotName>/<framed_Id>
node_name /<robotName>/RGBDToPointCloudSensorNode

Definition at line 58 of file RgbdToPointCloudSensor_nws_ros2.h.

Constructor & Destructor Documentation

◆ RgbdToPointCloudSensor_nws_ros2() [1/3]

RgbdToPointCloudSensor_nws_ros2::RgbdToPointCloudSensor_nws_ros2 ( )

Definition at line 27 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ RgbdToPointCloudSensor_nws_ros2() [2/3]

RgbdToPointCloudSensor_nws_ros2::RgbdToPointCloudSensor_nws_ros2 ( const RgbdToPointCloudSensor_nws_ros2 & )

delete

◆ RgbdToPointCloudSensor_nws_ros2() [3/3]

RgbdToPointCloudSensor_nws_ros2::RgbdToPointCloudSensor_nws_ros2 ( RgbdToPointCloudSensor_nws_ros2 && )

deletenoexcept

◆ ~RgbdToPointCloudSensor_nws_ros2()

RgbdToPointCloudSensor_nws_ros2::~RgbdToPointCloudSensor_nws_ros2 ( )

overridedefault

Member Function Documentation

◆ attach()

bool RgbdToPointCloudSensor_nws_ros2::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 110 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ close()

bool RgbdToPointCloudSensor_nws_ros2::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 70 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ detach()

bool RgbdToPointCloudSensor_nws_ros2::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 133 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ open()

bool RgbdToPointCloudSensor_nws_ros2::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is 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 34 of file RgbdToPointCloudSensor_nws_ros2.cpp.

◆ operator=() [1/2]

RgbdToPointCloudSensor_nws_ros2 & RgbdToPointCloudSensor_nws_ros2::operator= ( const RgbdToPointCloudSensor_nws_ros2 & )

delete

◆ operator=() [2/2]

RgbdToPointCloudSensor_nws_ros2 & RgbdToPointCloudSensor_nws_ros2::operator= ( RgbdToPointCloudSensor_nws_ros2 && )

deletenoexcept

◆ run()

void RgbdToPointCloudSensor_nws_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 80 of file RgbdToPointCloudSensor_nws_ros2.cpp.

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

opt-modules/yarp-devices-ros2/src/devices/rgbdToPointCloudSensor_nws_ros2/RgbdToPointCloudSensor_nws_ros2.h
opt-modules/yarp-devices-ros2/src/devices/rgbdToPointCloudSensor_nws_ros2/RgbdToPointCloudSensor_nws_ros2.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ RgbdToPointCloudSensor_nws_ros2() [1/3]

◆ RgbdToPointCloudSensor_nws_ros2() [2/3]

◆ RgbdToPointCloudSensor_nws_ros2() [3/3]

◆ ~RgbdToPointCloudSensor_nws_ros2()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ run()