Description

This handler is responsible for publishing state information about a ChBody.

This handler creates three publishers for the pose, twist (linear/angular velocity), and accel (linear/angular acceleration) topics.

#include <ChROSBodyHandler.h>

Inheritance diagram for chrono::ros::ChROSBodyHandler:

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Collaboration diagram for chrono::ros::ChROSBodyHandler:

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Public Member Functions
	ChROSBodyHandler (double update_rate, std::shared_ptr< ChBody > body, const std::string &topic="~/")
	Constructor.
virtual bool	Initialize (std::shared_ptr< ChROSInterface > interface) override
	Initializes the handler. This creates the three publishers for the pose, twist, and accel topics.
Public Member Functions inherited from chrono::ros::ChROSHandler
virtual	~ChROSHandler ()=default
	Destructor for the ChROSHandler.
virtual void	Update (double time, double step) final
	Updates the internal clock and checks if a tick should occur.
const double	GetUpdateRate () const
	Get the period which this handler operates at.
const uint64_t	GetTickCount () const
	Get the number of times Tick() has been called.

Protected Member Functions
virtual void	Tick (double time) override
	Simply calls PublishPose, PublishTwist, and PublishAccel.
Protected Member Functions inherited from chrono::ros::ChROSHandler
	ChROSHandler (double update_rate)
	Constructor for the ChROSHandler.

Constructor & Destructor Documentation

◆ ChROSBodyHandler()

chrono::ros::ChROSBodyHandler::ChROSBodyHandler	(	double	update_rate,
		std::shared_ptr< ChBody >	body,
		const std::string &	topic = "~/" )

Constructor.

The based topic is concatenated before the individual topic names. This handler will publish to the topics: <topic>/pose <topic>/twist <topic>/accel where <topic> is the passed in topic argument. If the no topic is passed, the topics will be: ~/pose ~/twist ~/accel

Member Function Documentation

◆ Initialize()

bool chrono::ros::ChROSBodyHandler::Initialize ( std::shared_ptr< ChROSInterface > interface )

overridevirtual

Initializes the handler. This creates the three publishers for the pose, twist, and accel topics.

Implements chrono::ros::ChROSHandler.

◆ Tick()

void chrono::ros::ChROSBodyHandler::Tick ( double time )

overrideprotectedvirtual

Simply calls PublishPose, PublishTwist, and PublishAccel.

Parameters

time	The time at which the current state of the simulation is.