Class RangeSensorBroadcaster

Inheritance Relationships

Base Type

  • public controller_interface::ControllerInterface

Class Documentation

class RangeSensorBroadcaster : public controller_interface::ControllerInterface

Public Functions

virtual controller_interface::InterfaceConfiguration command_interface_configuration() const override
virtual controller_interface::InterfaceConfiguration state_interface_configuration() const override
virtual controller_interface::CallbackReturn on_init() override
controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override
virtual controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Types

using StatePublisher = realtime_tools::RealtimePublisher<sensor_msgs::msg::Range>

Protected Attributes

std::shared_ptr<ParamListener> param_listener_
Params params_
std::unique_ptr<semantic_components::RangeSensor> range_sensor_
rclcpp::Publisher<sensor_msgs::msg::Range>::SharedPtr sensor_state_publisher_
std::unique_ptr<StatePublisher> realtime_publisher_