creos::ISensorsInterface Class Reference

The interface for retrieving sensor data from an Avular robot. More...

#include <creos/sensors_interface.hpp>

Public Member Functions
virtual SubscriptionId	subscribeTo3dLidar (const creos_messages::Lidar3dId lidar_id, const std::function< void(const creos_messages::PointCloud2 &)> &callback)=0
	Subscribe to the lidar point cloud data.
virtual SubscriptionId	subscribeToOdometry (const std::function< void(const creos_messages::Odometry &)> &callback)=0
	Subscribe to the odometry data.
virtual SubscriptionId	subscribeToPose (const std::function< void(const creos_messages::PoseWithCovarianceStamped &)> &callback)=0
	Subscribe to the global pose data.
virtual SubscriptionId	subscribeToGnss (const std::function< void(const creos_messages::Gnss &)> &callback)=0
	Subscribe to the GNSS data.
virtual SubscriptionId	subscribeToRemoteController (const std::function< void(const creos_messages::ControllerState &)> &callback)=0
	Subscribe to the remote controller state data.
virtual SubscriptionId	subscribeToWheelState (const std::function< void(const creos_messages::WheelStates &)> &callback)=0
	Subscribe to the wheel state data.
virtual SubscriptionId	subscribeToMagneticField (creos_messages::MagneticFieldId magnetic_field_id, const std::function< void(const creos_messages::MagneticField &)> &callback)=0
	Subscribe to the magnetic field data.
virtual SubscriptionId	subscribeToBarometer (const std::function< void(const creos_messages::Barometer &)> &callback)=0
	Subscribe to the barometer data.
virtual SubscriptionId	subscribeToRangeSensor (creos_messages::RangeSensorId range_sensor_id, const std::function< void(const creos_messages::Range &)> &callback)=0
	Subscribe to range sensor data.
virtual SubscriptionId	subscribeToImu (const creos_messages::ImuId imu_id, const std::function< void(const creos_messages::Imu &)> &callback)=0
	Subscribe to the IMU sensor data.

Static Public Attributes
static constexpr char	name [] = "sensors"
static constexpr unsigned	version = 1

Detailed Description

The interface for retrieving sensor data from an Avular robot.

Member Function Documentation

subscribeTo3dLidar()

virtual SubscriptionId creos::ISensorsInterface::subscribeTo3dLidar ( const creos_messages::Lidar3dId lidar_id, const std::function< void(const creos_messages::PointCloud2 &)> & callback )

pure virtualOrigin

Subscribe to the lidar point cloud data.

The point cloud is a 3D representation of the environment around the robot.

Parameters

lidar_id	The id of the lidar to subscribe to.
callback	The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide lidar point cloud data.
creos::SubscriptionError	if the subscription failed.

subscribeToBarometer()

virtual SubscriptionId creos::ISensorsInterface::subscribeToBarometer ( const std::function< void(const creos_messages::Barometer &)> & callback )

pure virtualVertex

Subscribe to the barometer data.

The barometer data contains the atmospheric pressure and temperature around the robot.

Parameters

callback

The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide barometer data.
creos::SubscriptionError	if the subscription failed.

subscribeToGnss()

virtual SubscriptionId creos::ISensorsInterface::subscribeToGnss ( const std::function< void(const creos_messages::Gnss &)> & callback )

pure virtualOriginVertex

Subscribe to the GNSS data.

The GNSS data contains the global position of the robot.

Parameters

callback

The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide GNSS data.
creos::SubscriptionError	if the subscription failed.

subscribeToImu()

virtual SubscriptionId creos::ISensorsInterface::subscribeToImu ( const creos_messages::ImuId imu_id, const std::function< void(const creos_messages::Imu &)> & callback )

pure virtualVertex

Subscribe to the IMU sensor data.

The IMU sensor data contains the acceleration, angular velocity and orientation of the robot.

Parameters

imu_id	The id of the IMU to subscribe to.
callback	The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide IMU sensor data.
creos::SubscriptionError	if the subscription failed.

subscribeToMagneticField()

virtual SubscriptionId creos::ISensorsInterface::subscribeToMagneticField ( creos_messages::MagneticFieldId magnetic_field_id, const std::function< void(const creos_messages::MagneticField &)> & callback )

pure virtualVertex

Subscribe to the magnetic field data.

The magnetic field data contains the magnetic field strength and direction around the robot.

Parameters

callback

The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide magnetic field data.
creos::SubscriptionError	if the subscription failed.

subscribeToOdometry()

virtual SubscriptionId creos::ISensorsInterface::subscribeToOdometry ( const std::function< void(const creos_messages::Odometry &)> & callback )

pure virtualOrigin

Subscribe to the odometry data.

The odometry data contains the estimated position, orientation and velocity of the robot.

Parameters

callback

The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide odometry data.
creos::SubscriptionError	if the subscription failed.

subscribeToPose()

virtual SubscriptionId creos::ISensorsInterface::subscribeToPose ( const std::function< void(const creos_messages::PoseWithCovarianceStamped &)> & callback )

pure virtualVertex

Subscribe to the global pose data.

The global pose data contains the estimated position and orientation of the robot in the global frame.

Parameters

callback

The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide global pose data.
creos::SubscriptionError	if the subscription failed.

subscribeToRangeSensor()

virtual SubscriptionId creos::ISensorsInterface::subscribeToRangeSensor ( creos_messages::RangeSensorId range_sensor_id, const std::function< void(const creos_messages::Range &)> & callback )

pure virtualVertex

Subscribe to range sensor data.

The range data contains the distance to an object in front of the sensor.

Parameters

callback

The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide downward lidar data.
creos::SubscriptionError	if the subscription failed.

subscribeToRemoteController()

virtual SubscriptionId creos::ISensorsInterface::subscribeToRemoteController ( const std::function< void(const creos_messages::ControllerState &)> & callback )

pure virtualOriginVertex

Subscribe to the remote controller state data.

The remote controller state data contains the state of the buttons and joysticks of the remote controller.

Parameters

callback

The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide remote controller state data.
creos::SubscriptionError	if the subscription failed.

subscribeToWheelState()

virtual SubscriptionId creos::ISensorsInterface::subscribeToWheelState ( const std::function< void(const creos_messages::WheelStates &)> & callback )

pure virtualOrigin

Subscribe to the wheel state data.

Parameters

callback

The callback function that will be called when new data is available.

Returns

SubscriptionId The id of the subscription.

Exceptions

creos::UnsupportedError	if the robot does not provide wheel state data.
creos::SubscriptionError	if the subscription failed.

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

• creos/sensors_interface.hpp