fpsdk::ros2::utils Namespace Reference

ROS2 utilities. More...

Functions
void	RedirectLoggingToRosConsole (const char *logger_name="fpsdk_ros2")
	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)

Detailed Description

ROS2 utilities.

Function Documentation

RedirectLoggingToRosConsole()

void fpsdk::ros2::utils::RedirectLoggingToRosConsole

(

const char *

logger_name = "fpsdk_ros2"

)

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::ros2::utils::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::ros2::utils::ConvTime

(

const rclcpp::Time &

time

)

Convert from ROS time (POSIX -> atomic)

Parameters

[in]

time

The ROS time object (POSIX)

Returns

the Time object (atomic)