YARP
Yet Another Robot Platform
 
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ROS2 Network Wrapper Clients (NWC)

These devices connects to ROS2 network and expose a yarp::dev interface (see Network Wrapper Server and Network Wrapper Client Architecture). More...

+ Collaboration diagram for ROS2 Network Wrapper Clients (NWC):

Classes

class  FrameTransformGet_nwc_ros2
 frameTransformGet_nwc_ros2: A ros network wrapper client that receives frame transforms from a ros2 topic and makes them available through an IFrameTransformStorageGet interface. More...
 
class  FrameTransformSet_nwc_ros2
 frameTransformSet_nwc_ros2: A ros network wrapper client which publishes the transforms received on the yarp::dev::IFrameTransformStorageSet interface to a ros2 topic. More...
 
class  Rangefinder2D_nwc_ros2
 Rangefinder2D_nwc_ros2: A Network grabber for 2D Rangefinder devices More...
 

Typedefs

typedef yarp::sig::ImageOf< yarp::sig::PixelFloatdepthImage
 This class is an utility.
 

Detailed Description

These devices connects to ROS2 network and expose a yarp::dev interface (see Network Wrapper Server and Network Wrapper Client Architecture).

Typedef Documentation

◆ depthImage

This class is an utility.

Description of input parameters

This device is an nwc take a stream of data from ros2 and exposes to the user IRGBDSensor interface. See its documentation for more details about the interface.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
rgb_data_topic - string - - no ros rgb topic must start with a leading '/'
rgb_info_topic - string - no ros rgb camera info topic must start with a leading '/'
depth_data_topic - string - - no ros depth topic must start with a leading '/'
depth_info_topic - string - - no ros depth camera info topic must start with a leading '/'

example of configuration file:

Example of configuration parameters:

device rgbdSensor_nwc_ros2
rgb_data_topic /<robotName>/camera/color/image_raw
rgb_info_topic /<robotName>/camera/color/camera_info
depth_data_topic /<robotName>/depth/color/image_rect_raw
depth_info_topic /<robotName>/depth/color/camera_info

Definition at line 66 of file RgbdSensor_nwc_ros2.h.