#include <AutowareVehicleStatusPublisher.h>

Inheritance diagram for carla::ros2::AutowareVehicleStatusPublisher:

Classes
class	Impl

Public Member Functions
	AutowareVehicleStatusPublisher ()

	AutowareVehicleStatusPublisher (const AutowareVehicleStatusPublisher &)=delete

AutowareVehicleStatusPublisher &	operator= (const AutowareVehicleStatusPublisher &)=delete

bool	Publish () override
	BasePublisher interface; publishes with the last stamp given to the two-argument overload (0,0 before the first call).

bool	Publish (std::int32_t seconds, std::uint32_t nanoseconds)
	Stamp all six pending reports with (seconds, nanoseconds) and publish them at once — all reports share the same frequency, matching AWSIM.

void	SetControlMode (ControlMode mode)

void	SetGear (Gear gear)

void	SetHazardLights (bool hazard_lights_enabled)

void	SetSteering (float steering_tire_angle)

void	SetTurnIndicators (TurnIndicatorsStatus status)

void	SetVelocity (float longitudinal_velocity, float lateral_velocity, float heading_rate)

	~AutowareVehicleStatusPublisher () override

Public Member Functions inherited from carla::ros2::BasePublisher
	BasePublisher ()=default

	BasePublisher (BasePublisher &&)=delete

	BasePublisher (const BasePublisher &)=delete

	BasePublisher (std::string base_topic_name)

	BasePublisher (std::string base_topic_name, std::string frame_id)

	BasePublisher (void *actor, std::string base_topic_name, std::string frame_id)

void *	GetActor () const noexcept

const std::string &	GetBaseTopicName () const noexcept

const std::string &	GetFrameId () const noexcept

BasePublisher &	operator= (BasePublisher &&)=delete

BasePublisher &	operator= (const BasePublisher &)=delete

virtual	~BasePublisher ()=default

Private Attributes
std::shared_ptr< Impl >	_impl

std::uint32_t	_nanoseconds {0}

std::int32_t	_seconds {0}

Additional Inherited Members
Protected Attributes inherited from carla::ros2::BasePublisher
void *	_actor {nullptr}

std::string	_base_topic_name

std::string	_frame_id

Detailed Description

Definition at line 77 of file AutowareVehicleStatusPublisher.h.

Constructor & Destructor Documentation

◆ AutowareVehicleStatusPublisher() [1/2]

carla::ros2::AutowareVehicleStatusPublisher::AutowareVehicleStatusPublisher ( )

Definition at line 44 of file AutowareVehicleStatusPublisher.cpp.

References _impl, carla::log_error(), and carla::ros2::QosProfile::ReliableVolatile().

◆ ~AutowareVehicleStatusPublisher()

carla::ros2::AutowareVehicleStatusPublisher::~AutowareVehicleStatusPublisher ( )

overridedefault

◆ AutowareVehicleStatusPublisher() [2/2]

carla::ros2::AutowareVehicleStatusPublisher::AutowareVehicleStatusPublisher ( const AutowareVehicleStatusPublisher & )

delete

Member Function Documentation

◆ operator=()

AutowareVehicleStatusPublisher & carla::ros2::AutowareVehicleStatusPublisher::operator= ( const AutowareVehicleStatusPublisher & )

delete

◆ Publish() [1/2]

bool carla::ros2::AutowareVehicleStatusPublisher::Publish ( )

overridevirtual

BasePublisher interface; publishes with the last stamp given to the two-argument overload (0,0 before the first call).

Implements carla::ros2::BasePublisher.

Definition at line 170 of file AutowareVehicleStatusPublisher.cpp.

References _impl, _nanoseconds, and _seconds.

Referenced by Publish().

◆ Publish() [2/2]

bool carla::ros2::AutowareVehicleStatusPublisher::Publish	(	std::int32_t	seconds,
		std::uint32_t	nanoseconds
	)

Stamp all six pending reports with (seconds, nanoseconds) and publish them at once — all reports share the same frequency, matching AWSIM.

Definition at line 163 of file AutowareVehicleStatusPublisher.cpp.

References _nanoseconds, _seconds, and Publish().

◆ SetControlMode()

void carla::ros2::AutowareVehicleStatusPublisher::SetControlMode ( ControlMode mode )

Definition at line 82 of file AutowareVehicleStatusPublisher.cpp.

References _impl, carla::ros2::AUTONOMOUS, carla::ros2::AUTONOMOUS_STEER_ONLY, carla::ros2::AUTONOMOUS_VELOCITY_ONLY, CASE, carla::ros2::DISENGAGED, carla::ros2::MANUAL, carla::ros2::NO_COMMAND, and carla::ros2::NOT_READY.

◆ SetGear()

void carla::ros2::AutowareVehicleStatusPublisher::SetGear ( Gear gear )

◆ SetHazardLights()

void carla::ros2::AutowareVehicleStatusPublisher::SetHazardLights ( bool hazard_lights_enabled )

Definition at line 157 of file AutowareVehicleStatusPublisher.cpp.

References _impl, carla::ros2::msg::HazardLightsReport::DISABLE, and carla::ros2::msg::HazardLightsReport::ENABLE.

◆ SetSteering()

void carla::ros2::AutowareVehicleStatusPublisher::SetSteering ( float steering_tire_angle )

Parameters

steering_tire_angle CARLA-side steering value; the inverse compensation LUT (GetSteeringOutput) is applied before publishing so Autoware sees the actual tire angle.

Definition at line 73 of file AutowareVehicleStatusPublisher.cpp.

References _impl, and carla::ros2::autoware_steering_compensation::GetSteeringOutput().