ros2Helpers.hpp File Reference

#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "geometry_msgs/msg/twist_with_covariance_stamped.hpp"
#include "pacsim/msg/gnss.hpp"
#include "pacsim/msg/perception_detections.hpp"
#include "sensor_msgs/msg/imu.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "types.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include <Eigen/Dense>
#include <string>
#include <tf2/LinearMath/Quaternion.h>

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Classes
class	LandmarksMarkerWrapper

Functions
pacsim::msg::PerceptionDetections	LandmarkListToRosMessage (const LandmarkList &sensorLms, std::string frameId, double time)
sensor_msgs::msg::Imu	createRosImuMsg (const ImuData &data)
geometry_msgs::msg::TwistWithCovarianceStamped	createRosTwistMsg (const Eigen::Vector3d &vel, const Eigen::Vector3d &rot, const std::string &frame, double time)
geometry_msgs::msg::TransformStamped	createRosTransformMsg (const Eigen::Vector3d &trans, const Eigen::Vector3d &rot, const std::string &frame, const std::string &child_frame, double time)
geometry_msgs::msg::TransformStamped	createStaticTransform (const std::string &frame, const std::string &child_frame, double time)
sensor_msgs::msg::JointState	createRosJointMsg (const std::vector< std::string > &joint_names, const std::vector< double > &joint_vals, double time)
pacsim::msg::GNSS	createRosGnssMessage (const GnssData &data)

Function Documentation

createRosGnssMessage()

pacsim::msg::GNSS createRosGnssMessage

(

const GnssData &

data

)

Definition at line 402 of file ros2Helpers.cpp.

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createRosImuMsg()

sensor_msgs::msg::Imu createRosImuMsg

(

const ImuData &

data

)

Definition at line 313 of file ros2Helpers.cpp.

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createRosJointMsg()

sensor_msgs::msg::JointState createRosJointMsg	(	const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_vals,
		double	time
	)

Definition at line 390 of file ros2Helpers.cpp.

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createRosTransformMsg()

geometry_msgs::msg::TransformStamped createRosTransformMsg	(	const Eigen::Vector3d &	trans,
		const Eigen::Vector3d &	rot,
		const std::string &	frame,
		const std::string &	child_frame,
		double	time
	)

Definition at line 357 of file ros2Helpers.cpp.

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createRosTwistMsg()

geometry_msgs::msg::TwistWithCovarianceStamped createRosTwistMsg	(	const Eigen::Vector3d &	vel,
		const Eigen::Vector3d &	rot,
		const std::string &	frame,
		double	time
	)

Definition at line 339 of file ros2Helpers.cpp.

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createStaticTransform()

geometry_msgs::msg::TransformStamped createStaticTransform	(	const std::string &	frame,
		const std::string &	child_frame,
		double	time
	)

Definition at line 379 of file ros2Helpers.cpp.

LandmarkListToRosMessage()

pacsim::msg::PerceptionDetections LandmarkListToRosMessage	(	const LandmarkList &	sensorLms,
		std::string	frameId,
		double	time
	)

Definition at line 265 of file ros2Helpers.cpp.

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