fpsdk::common::ros2 Namespace Reference

ROS2 types and utils. More...

Classes
class	BagWriter
	ROS2 bag writer helper. More...

Functions
void	RedirectLoggingToRosConsole (const char *logger_name="fpsdk_common")
	Redirect fp:common::logging to ROS console.
rclcpp::Time	ConvTime (const fpsdk::common::time::Time &time, rcl_clock_type_t clock_type=RCL_ROS_TIME)
	Convert to ROS time (atomic -> POSIX).
fpsdk::common::time::Time	ConvTime (const rclcpp::Time &time)
	Convert from ROS time (POSIX -> atomic).
template<typename Ros1MsgT, typename Ros2MsgT>
void	Ros1ToRos2 (Ros1MsgT &ros1, Ros2MsgT &ros2)
	Convert ROS1 message to ROS2 message.

Detailed Description

ROS2 types and utils.

Function Documentation

RedirectLoggingToRosConsole()

void fpsdk::common::ros2::RedirectLoggingToRosConsole

(

const char *

logger_name = "fpsdk_common"

)

Redirect fp:common::logging to ROS console.

This configures the fpsdk::common::logging facility to output via the ROS console. This does not configure the ROS console (logger level, logger name, etc.).

The mapping of fpsdk::common::logging::LoggingLevel to rclcpp levels is as follows:

• TRACE and DEBUG --> DEBUG
• INFO and NOTICE --> INFO
• WARNING --> WARN
• ERROR --> ERROR
• FATAL --> FATAL

Parameters

[in]

logger_name

The name of the logger. The recommended value is node->get_logger().get_name()

ConvTime() [1/2]

rclcpp::Time fpsdk::common::ros2::ConvTime	(	const fpsdk::common::time::Time &	time,
		rcl_clock_type_t	clock_type = RCL_ROS_TIME )

Convert to ROS time (atomic -> POSIX).

Parameters

[in]	time	The Time object (atomic)
[in]	clock_type	The clock to use (to assume)

Returns

the ROS time object (POSIX)

ConvTime() [2/2]

fpsdk::common::time::Time fpsdk::common::ros2::ConvTime

(

const rclcpp::Time &

time

)

Convert from ROS time (POSIX -> atomic).

Parameters

[in]

time

The ROS time object (POSIX)

Returns

the Time object (atomic)

Ros1ToRos2()

template<typename Ros1MsgT, typename Ros2MsgT>

void fpsdk::common::ros2::Ros1ToRos2	(	Ros1MsgT &	ros1,
		Ros2MsgT &	ros2 )

Convert ROS1 message to ROS2 message.

Several conversions in this form are implemented. See the source code for details.

Template Parameters

Ros1MsgT	ROS1 message type
Ros2MsgT	ROS2 message type

Parameters

[in]	ros1	ROS1 message
[out]	ros2	ROS2 message