FsdsAdapter Class Reference

#include <fsds.hpp>

Inheritance diagram for FsdsAdapter:

Collaboration diagram for FsdsAdapter:

Public Member Functions
	FsdsAdapter (std::shared_ptr< SENode > se_node)
void	mission_state_callback (const fs_msgs::msg::GoSignal &msg) const
void	finish () final
	Function that sends the finish signal to the respective node.
void	wheel_speeds_subscription_callback (const fs_msgs::msg::WheelStates &msg) const
	FsdsAdapter (const PlanningParameters &params)
void	mission_state_callback (const fs_msgs::msg::GoSignal msg)
void	set_mission_state ()
void	pose_callback (const nav_msgs::msg::Odometry &msg)
void	finish () override
	Function that sends the finish signal to the respective node.
Public Member Functions inherited from Adapter
	Adapter (std::shared_ptr< SENode > se_node)
void	imu_subscription_callback (const sensor_msgs::msg::Imu &msg)
	Function that parses the message sent from the ros IMU topic and calls the respective node's function to update the motion.
virtual	~Adapter ()=default
Public Member Functions inherited from Planning
	Planning (const PlanningParameters &params)
	Constructs a Planning node with the specified configuration parameters.
void	set_mission (Mission mission)
	Sets the mission type for planning execution.

Private Attributes
rclcpp::Subscription< fs_msgs::msg::GoSignal >::SharedPtr	fsds_state_subscription_
rclcpp::Publisher< fs_msgs::msg::FinishedSignal >::SharedPtr	fsds_ebs_publisher_
rclcpp::Subscription< sensor_msgs::msg::Imu >::SharedPtr	_fs_imu_subscription_
rclcpp::Subscription< fs_msgs::msg::WheelStates >::SharedPtr	_fs_wheel_speeds_subscription_
rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	fsds_position_subscription_

Additional Inherited Members
Static Public Member Functions inherited from Planning
static PlanningParameters	load_config (std::string &adapter)
	Loads planning configuration from YAML files.
Public Attributes inherited from Adapter
std::shared_ptr< SENode >	node_
rclcpp::Subscription< sensor_msgs::msg::Imu >::SharedPtr	_imu_subscription_

Detailed Description

Definition at line 7 of file fsds.hpp.

Constructor & Destructor Documentation

FsdsAdapter() [1/2]

FsdsAdapter::FsdsAdapter ( std::shared_ptr< SENode >  se_node )

explicit

Definition at line 5 of file fsds.cpp.

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FsdsAdapter() [2/2]

FsdsAdapter::FsdsAdapter ( const PlanningParameters &  params )

explicit

Definition at line 5 of file fsds.cpp.

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Member Function Documentation

finish() [1/2]

void FsdsAdapter::finish ( )

finalvirtual

Function that sends the finish signal to the respective node.

Implements Adapter.

Definition at line 29 of file fsds.cpp.

finish() [2/2]

void FsdsAdapter::finish ( )

overridevirtual

Function that sends the finish signal to the respective node.

Implements Adapter.

mission_state_callback() [1/2]

void FsdsAdapter::mission_state_callback

(

const fs_msgs::msg::GoSignal &

msg

)

const

Definition at line 22 of file fsds.cpp.

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mission_state_callback() [2/2]

void FsdsAdapter::mission_state_callback

(

const fs_msgs::msg::GoSignal

msg

)

Definition at line 22 of file fsds.cpp.

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pose_callback()

void FsdsAdapter::pose_callback

(

const nav_msgs::msg::Odometry &

msg

)

Definition at line 39 of file fsds.cpp.

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set_mission_state()

void FsdsAdapter::set_mission_state

(

)

Definition at line 28 of file fsds.cpp.

wheel_speeds_subscription_callback()

void FsdsAdapter::wheel_speeds_subscription_callback

(

const fs_msgs::msg::WheelStates &

msg

)

const

Definition at line 36 of file fsds.cpp.

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Member Data Documentation

_fs_imu_subscription_

rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr FsdsAdapter::_fs_imu_subscription_

private

Definition at line 11 of file fsds.hpp.

_fs_wheel_speeds_subscription_

rclcpp::Subscription<fs_msgs::msg::WheelStates>::SharedPtr FsdsAdapter::_fs_wheel_speeds_subscription_

private

Definition at line 12 of file fsds.hpp.

fsds_ebs_publisher_

rclcpp::Publisher< fs_msgs::msg::FinishedSignal >::SharedPtr FsdsAdapter::fsds_ebs_publisher_

private

Definition at line 9 of file fsds.hpp.

fsds_position_subscription_

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr FsdsAdapter::fsds_position_subscription_

private

Definition at line 23 of file fsds.hpp.

fsds_state_subscription_

rclcpp::Subscription< fs_msgs::msg::GoSignal >::SharedPtr FsdsAdapter::fsds_state_subscription_

private

Definition at line 8 of file fsds.hpp.

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

• src/ekf_state_est/include/adapter_ekf_state_est/fsds.hpp
• src/planning/include/adapter_planning/fsds.hpp
• src/ekf_state_est/src/adapter_ekf_state_est/fsds.cpp
• src/planning/src/adapter_planning/fsds.cpp