roboligo::Odom Class Reference

Sensor class for handling odometry data from a ROS 2 topic. More...

#include <Odom.hpp>

Inheritance diagram for roboligo::Odom:

Collaboration diagram for roboligo::Odom:

Public Member Functions
void	callback (nav_msgs::msg::Odometry::SharedPtr msg)
	Callback function invoked when a new odometry message is received.
	Odom (std::string new_name, std::string new_topic)
	Constructor for Odom sensor.
virtual	~Odom ()=default
	Virtual destructor.
Public Member Functions inherited from roboligo::Sensor
void	init (std::string new_name, std::string new_topic)
	Initializes the sensor with a name and topic.
	Sensor (std::string new_name, std::string new_topic)
	Constructor for Sensor.
virtual	~Sensor ()=default
	Virtual destructor.
Public Member Functions inherited from roboligo::Linker
interfaces::modes	get_mode ()
	Gets the current mode of the linker.
std::string	get_name ()
	Gets the linker name.
std::string	get_topic ()
	Gets the topic name.
bool	is_available (void)
	Checks if the linker is available.
bool	is_configured (void)
	Checks if the linker is configured.
	Linker ()
	Default constructor.
void	set_available (bool new_state)
	Sets the availability state.
void	set_configured (bool new_state)
	Sets the configuration state.
void	set_interface (std::string name_, std::string topic_name_)
	Configures the interface with name and topic.
void	set_mode (interfaces::modes new_mode)
	Sets the linker mode.
void	set_name (std::string new_name)
	Sets the linker name.
void	set_service (std::string new_name)
	Sets the service name.
void	set_topic (std::string new_name)
	Sets the topic name.
virtual	~Linker ()=default
	Virtual destructor.

Public Attributes
nav_msgs::msg::Odometry::SharedPtr	data
	Shared pointer storing the latest received odometry message.
rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	subscriber
	ROS 2 subscription object for odometry messages.
Public Attributes inherited from roboligo::Linker
std::shared_ptr< interfaces::Interface >	interface
	Shared pointer to the interface object.
std::string	name {"linker"}
	Linker identifier name.
std::string	topic_name {"/interface"}
	Associated topic name.

Additional Inherited Members
Protected Member Functions inherited from roboligo::Sensor
void	initialize (std::string new_name, std::string new_topic)
	Protected initialization method.
Protected Attributes inherited from roboligo::Sensor
interfaces::modes	mode_ {interfaces::modes::SUBSCRIBER}
	The connection mode set to SUBSCRIBER for receiving sensor data.
Protected Attributes inherited from roboligo::Linker
bool	available_ {false}
	Availability flag.
bool	configured_ {false}
	Configuration state flag.
interfaces::modes	mode_
	Current operating mode.

Detailed Description

Sensor class for handling odometry data from a ROS 2 topic.

Subscribes to odometry messages and stores the latest odometry information. Inherits from the Sensor base class.

Constructor & Destructor Documentation

Odom()

roboligo::Odom::Odom ( std::string new_name, std::string new_topic )

inline

Constructor for Odom sensor.

Parameters

new_name	The name identifier for the sensor.
new_topic	The ROS 2 topic name to subscribe to.

~Odom()

virtual roboligo::Odom::~Odom ( )

virtualdefault

Virtual destructor.

Member Function Documentation

callback()

void roboligo::Odom::callback

(

nav_msgs::msg::Odometry::SharedPtr

msg

)

Callback function invoked when a new odometry message is received.

Parameters

msg	Shared pointer to the received Odometry message.

Member Data Documentation

data

nav_msgs::msg::Odometry::SharedPtr roboligo::Odom::data

Shared pointer storing the latest received odometry message.

subscriber

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr roboligo::Odom::subscriber

ROS 2 subscription object for odometry messages.

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

• roboligo_common/include/roboligo_common/connector/sensors/Odom.hpp
• roboligo_common/src/roboligo_common/connector/sensors/Odom.cpp