Struct RosInterfaces

Struct Documentation

struct RosInterfaces

ROS interfaces (pub/sub/service/timer) and header base.

Public Members

rclcpp::Clock default_clock_

Default clock for throttled log messages.

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscriber_

Subscriber for odometry.

rclcpp::Subscription<ubm_interfaces::msg::CustomBool>::SharedPtr start_control_subscriber_

Subscriber for start control messages.

rclcpp::Subscription<ubm_interfaces::msg::PathLimits>::SharedPtr path_limits_subscriber_

Subscriber for path limits. used in skidpad and ebs.

rclcpp::Service<ubm_interfaces::srv::IsReady>::SharedPtr is_ready_service_

Service for readiness check.

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr params_callback_handle_

Handle for dynamic parameter updates.

rclcpp::Publisher<ubm_interfaces::msg::Control>::SharedPtr drive_publisher_

Publisher for control commands.

rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr look_ahead_point_publisher_

Publisher for look-ahead point visualization.

rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr car_nearest_point_publisher_

Publisher for nearest point visualization.

rclcpp::Publisher<ubm_interfaces::msg::Emergency>::SharedPtr status_emergency_publisher_

Publisher for emergency status messages.

rclcpp::Publisher<ubm_interfaces::msg::Info>::SharedPtr status_info_publisher_

Publisher for info status messages.

rclcpp::Publisher<ubm_interfaces::msg::MissionFinished>::SharedPtr mission_finished_publisher_

Publisher for mission finished messages.

rclcpp::Publisher<ubm_interfaces::msg::PIDControlOutput>::SharedPtr steering_pid_publisher_

Publisher for steering PID output aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa.

rclcpp::Publisher<ubm_interfaces::msg::PIDControlOutput>::SharedPtr torque_pid_publisher_

Publisher for torque PID output aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa.

rclcpp::TimerBase::SharedPtr watchdog_timer_
rclcpp::TimerBase::SharedPtr control_timer_

Timer for control loop execution.

ubm_interfaces::msg::CustomHeader common_header