class mola::BridgeROS2

Overview

A bridge to read sensor observations from ROS 2 topics and forwarding them to other MOLA subsystems, and to publish MOLA topics, localization, and maps to ROS 2.

#include <BridgeROS2.h>

class BridgeROS2:
    public mola::RawDataSourceBase,
    public mola::RawDataConsumer
{
public:
    // structs

    struct MolaSubs;
    struct Params;

    // methods

    virtual void spinOnce();
    virtual void onNewObservation(const CObservation::ConstPtr& o);
};

Inherited Members

public:
    // structs

    struct DiagnosticsOutput;
    struct SensorViewerImpl;

    // methods

    virtual void initialize(const Yaml& cfg) = 0;
    virtual void spinOnce() = 0;
    ExecutableBase& operator = (const ExecutableBase&);
    ExecutableBase& operator = (ExecutableBase&&);
    RawDataSourceBase& operator = (const RawDataSourceBase&);
    RawDataSourceBase& operator = (RawDataSourceBase&&);

Methods

virtual void spinOnce()

Runs any required action on a timely manner

virtual void onNewObservation(const CObservation::ConstPtr& o)

To be called whenever a new observation arrives. It should return as fast as possible, enqueuing the data for processing in another thread.