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 mola::TransformTreeSource
{
public:
    // structs

    struct CachedLocalizationTf;
    struct MolaSubs;
    struct Params;

    // construction

    BridgeROS2();
    BridgeROS2(const BridgeROS2&);
    BridgeROS2(BridgeROS2&&);

    // methods

    virtual std::optional<TransformTree> transform_tree(
        const std::string& root,
        const std::optional<mrpt::Clock::time_point>& timestamp = std::nullopt
        ) const;

    virtual std::string transform_tree_default_root() const;
    BridgeROS2& operator = (const BridgeROS2&);
    BridgeROS2& operator = (BridgeROS2&&);
    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&&);
    TransformTreeSource& operator = (const TransformTreeSource&);
    TransformTreeSource& operator = (TransformTreeSource&&);

    virtual std::optional<TransformTree> transform_tree(
        const std::string& root,
        const std::optional<mrpt::Clock::time_point>& timestamp = std::nullopt
        ) const = 0;

    virtual std::string transform_tree_default_root() const;

Methods

virtual std::optional<TransformTree> transform_tree(
    const std::string& root,
    const std::optional<mrpt::Clock::time_point>& timestamp = std::nullopt
    ) const

Returns all frames reachable below root (that is, the subtree it is the root of), with their poses resolved with respect to it.

Filtering happens here, in the source, since it is what owns the underlying transform buffer: a consumer interested in a robot’s joints never has to receive, nor walk, the frames of unrelated subtrees.

Parameters:

root	The frame to use as the subtree root, e.g. “base_link”.
timestamp	The time to look the transforms up at. If not provided, or if no data is buffered for it, the latest available transform of each frame is used instead.

Returns:

The subtree, or std::nullopt if root is not a known frame.

virtual std::string transform_tree_default_root() const

Returns the frame this source considers the robot’s body frame (its base_link_frame_id parameter, or equivalent), so consumers can default to it instead of hardcoding a name. Empty if the source has none.

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.