carma_cooperative_perception::TrackListToExternalObjectListNode Class Reference

#include <track_list_to_external_object_list_component.hpp>

Inheritance diagram for carma_cooperative_perception::TrackListToExternalObjectListNode:

Collaboration diagram for carma_cooperative_perception::TrackListToExternalObjectListNode:

Public Member Functions
	TrackListToExternalObjectListNode (const rclcpp::NodeOptions &options)
auto	handle_on_configure (const rclcpp_lifecycle::State &) -> carma_ros2_utils::CallbackReturn override
auto	handle_on_cleanup (const rclcpp_lifecycle::State &) -> carma_ros2_utils::CallbackReturn override
auto	handle_on_shutdown (const rclcpp_lifecycle::State &) -> carma_ros2_utils::CallbackReturn override
auto	publish_as_external_object_list (const carma_cooperative_perception_interfaces::msg::TrackList &msg) const -> void

Private Attributes
rclcpp_lifecycle::LifecyclePublisher< carma_perception_msgs::msg::ExternalObjectList >::SharedPtr	publisher_ {nullptr}
rclcpp::Subscription< carma_cooperative_perception_interfaces::msg::TrackList >::SharedPtr	track_list_subscription_ {nullptr}
std::string	map_georeference_ {""}
OnSetParametersCallbackHandle::SharedPtr	on_set_parameters_callback_ {nullptr}

Detailed Description

Definition at line 32 of file track_list_to_external_object_list_component.hpp.

Constructor & Destructor Documentation

TrackListToExternalObjectListNode()

carma_cooperative_perception::TrackListToExternalObjectListNode::TrackListToExternalObjectListNode ( const rclcpp::NodeOptions &  options )

explicit

Definition at line 28 of file track_list_to_external_object_list_component.cpp.

: CarmaLifecycleNode{options}
{
  lifecycle_publishers_.push_back(publisher_);
  param_callback_handles_.push_back(on_set_parameters_callback_);
}

References on_set_parameters_callback_, and publisher_.

Member Function Documentation

handle_on_cleanup()

auto carma_cooperative_perception::TrackListToExternalObjectListNode::handle_on_cleanup ( const rclcpp_lifecycle::State &  ) -> carma_ros2_utils::CallbackReturn

override

Definition at line 60 of file track_list_to_external_object_list_component.cpp.

{
  // CarmaLifecycleNode does not handle subscriber pointer reseting for us
  track_list_subscription_.reset();
 
  return carma_ros2_utils::CallbackReturn::SUCCESS;
}

handle_on_configure()

auto carma_cooperative_perception::TrackListToExternalObjectListNode::handle_on_configure ( const rclcpp_lifecycle::State &  ) -> carma_ros2_utils::CallbackReturn

override

Definition at line 36 of file track_list_to_external_object_list_component.cpp.

{
  publisher_ = create_publisher<carma_perception_msgs::msg::ExternalObjectList>(
    "output/external_object_list", 1);
 
  track_list_subscription_ = create_subscription<
    carma_cooperative_perception_interfaces::msg::TrackList>(
    "input/track_list", 1,
    [this](const carma_cooperative_perception_interfaces::msg::TrackList::SharedPtr msg_ptr) {
      if (const auto current_state{this->get_current_state().label()}; current_state == "active") {
        publish_as_external_object_list(*msg_ptr);
      } else {
        RCLCPP_WARN(
          this->get_logger(),
          "Trying to receive message on the topic '%s', but the containing node is not activated. "
          "Current node state: '%s'",
          this->track_list_subscription_->get_topic_name(), current_state.c_str());
      }
    });
 
  return carma_ros2_utils::CallbackReturn::SUCCESS;
}

handle_on_shutdown()

auto carma_cooperative_perception::TrackListToExternalObjectListNode::handle_on_shutdown ( const rclcpp_lifecycle::State &  ) -> carma_ros2_utils::CallbackReturn

override

Definition at line 69 of file track_list_to_external_object_list_component.cpp.

{
  // CarmaLifecycleNode does not handle subscriber pointer reseting for us
  track_list_subscription_.reset();
 
  return carma_ros2_utils::CallbackReturn::SUCCESS;
}

publish_as_external_object_list()

auto carma_cooperative_perception::TrackListToExternalObjectListNode::publish_as_external_object_list

(

const carma_cooperative_perception_interfaces::msg::TrackList &

msg

)

const -> void

Definition at line 78 of file track_list_to_external_object_list_component.cpp.

{
  auto external_object_list{to_external_object_list_msg(msg)};
  external_object_list.header.stamp = now();
  external_object_list.header.frame_id = "map";
 
  publisher_->publish(external_object_list);
}

References carma_cooperative_perception::to_external_object_list_msg().

Here is the call graph for this function:

Member Data Documentation

map_georeference_

std::string carma_cooperative_perception::TrackListToExternalObjectListNode::map_georeference_ {""}

private

Definition at line 54 of file track_list_to_external_object_list_component.hpp.

on_set_parameters_callback_

OnSetParametersCallbackHandle::SharedPtr carma_cooperative_perception::TrackListToExternalObjectListNode::on_set_parameters_callback_ {nullptr}

private

Definition at line 55 of file track_list_to_external_object_list_component.hpp.

Referenced by TrackListToExternalObjectListNode().

publisher_

rclcpp_lifecycle::LifecyclePublisher<carma_perception_msgs::msg::ExternalObjectList>::SharedPtr carma_cooperative_perception::TrackListToExternalObjectListNode::publisher_ {nullptr}

private

Definition at line 51 of file track_list_to_external_object_list_component.hpp.

Referenced by TrackListToExternalObjectListNode().

track_list_subscription_

rclcpp::Subscription<carma_cooperative_perception_interfaces::msg::TrackList>::SharedPtr carma_cooperative_perception::TrackListToExternalObjectListNode::track_list_subscription_ {nullptr}

private

Definition at line 53 of file track_list_to_external_object_list_component.hpp.

---

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

• carma_cooperative_perception/include/carma_cooperative_perception/track_list_to_external_object_list_component.hpp
• carma_cooperative_perception/src/track_list_to_external_object_list_component.cpp