ROS2::ROS2SensorComponentBase< EventSourceT > Class Template Reference

#include <ROS2SensorComponentBase.h>

Inherits AZ::Component.

Public Types
using	SensorBaseType = ROS2SensorComponentBase< EventSourceT >

Public Member Functions
	AZ_COMPONENT_DECL ((ROS2SensorComponentBase, AZ_CLASS))
void	Activate () override
void	Deactivate () override

Static Public Member Functions
static void	Reflect (AZ::ReflectContext *context)
static void	GetRequiredServices (AZ::ComponentDescriptor::DependencyArrayType &required)

Protected Member Functions
void	StartSensor (float sensorFrequency, typename EventSourceT::AdaptedCallbackType adaptedCallback, typename EventSourceT::SourceCallbackType sourceCallback=nullptr)
void	StopSensor ()
	Stops sensor and disconnects event callbacks passed through RSO2::ROS2SensorComponentBase::StartSensor.
AZStd::string	GetNamespace () const
	Returns a complete namespace for this sensor topics and frame ids.
AZStd::string	GetFrameID () const
	Returns this sensor frame ID. The ID contains namespace.

Protected Attributes
SensorConfiguration	m_sensorConfiguration
	Basic sensor configuration.
EventSourceAdapter< EventSourceT >	m_eventSourceAdapter
	Adapter for selected event source (see this class documentation).
EventSourceT::SourceEventHandlerType	m_sourceEventHandler
	Handler for source event. Requires manual assignment and connecting to source event in derived class.
EventSourceT::AdaptedEventHandlerType	m_adaptedEventHandler
	Handler for adapted event. Requires manual assignment and connecting to adapted event in derived class.

Detailed Description

template<class EventSourceT>
class ROS2::ROS2SensorComponentBase< EventSourceT >

Base sensor component class for all specific sensor implementations. Developer working on the new sensor should derive from this class, defining necessary event source type (EventSourceT template parameter). Available sources are e.g. TickBasedSource or PhysicsBasedSource. Chosen event source is wrapped into EventSourceAdapter, making it possible to work with specific frequency. Derived implementation should call ROS2::ROS2SensorComponentBase::StartSensor at the end of Activate (or whenever sensor configuration is already set up) and StopSensor in Deactivate. Starting sensor base requires passing two parameters:

• sensor working frequency - how often sensor logic should be processed,
• adapted event callback - what should be done in sensor logic processing. Optionally, user can pass third parameter, which is source event callback - this will be called with source event frequency (check chosen event source implementation).

  See also

  ROS2::TickBasedSource

  ROS2::PhysicsBasedSource

Member Function Documentation

StartSensor()

template<class EventSourceT >

void ROS2::ROS2SensorComponentBase< EventSourceT >::StartSensor ( float  sensorFrequency, typename EventSourceT::AdaptedCallbackType  adaptedCallback, typename EventSourceT::SourceCallbackType  sourceCallback = nullptr  )

inlineprotected

Starts sensor with passed frequency and adapted event callback. Optionally, user can pass source event callback, that will be called with event source frequency.

Parameters

sensorFrequency	Sensor working frequency.
adaptedCallback	Adapted event callback - called with sensor working frequency.
sourceCallback	Source event callback - called with event source frequency.

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

• Gems/ROS2/Code/Include/ROS2/Sensor/ROS2SensorComponentBase.h