#include <ground_dds_ros_bridge.h>

Public Member Functions
	GroundDdsRosBridge ()

	~GroundDdsRosBridge ()

bool	BuildAccessControlStateToRos (const std::string &pub_topic, const std::string &name)

bool	BuildGuestScienceDataToRos (const std::string &pub_topic, const std::string &name)

bool	BuildPositionToOdom (const std::string &pub_topic, const std::string &name)

bool	BuildSensorImageToRos (const std::string &pub_topic, const std::string &name)

bool	BuildCommandToRapid (const std::string &sub_topic, const std::string &name)

bool	Initialize (ros::NodeHandle *nh)

Protected Member Functions
bool	ReadTopicInfo (const std::string &topic_abbr, const std::string &sub_or_pub, std::string &sub_topic, bool &use)

bool	ReadParams ()

Constructor & Destructor Documentation

◆ GroundDdsRosBridge()

ground_dds_ros_bridge::GroundDdsRosBridge::GroundDdsRosBridge ( )

◆ ~GroundDdsRosBridge()

ground_dds_ros_bridge::GroundDdsRosBridge::~GroundDdsRosBridge ( )

Member Function Documentation

◆ BuildAccessControlStateToRos()

bool ground_dds_ros_bridge::GroundDdsRosBridge::BuildAccessControlStateToRos	(	const std::string &	pub_topic,
		const std::string &	name
	)

Build Rapid subscribers to Ros publishers

Parameters

pubTopic topic to publish to

Returns: successful

◆ BuildCommandToRapid()

bool ground_dds_ros_bridge::GroundDdsRosBridge::BuildCommandToRapid	(	const std::string &	sub_topic,
		const std::string &	name
	)

Build Ros subscribers to Rapid publishers

Parameters

subTopic topic to subscribe to ex: "/camera/image"

Returns: successful

◆ BuildGuestScienceDataToRos()

bool ground_dds_ros_bridge::GroundDdsRosBridge::BuildGuestScienceDataToRos	(	const std::string &	pub_topic,
		const std::string &	name
	)

◆ BuildPositionToOdom()

bool ground_dds_ros_bridge::GroundDdsRosBridge::BuildPositionToOdom	(	const std::string &	pub_topic,
		const std::string &	name
	)

◆ BuildSensorImageToRos()

bool ground_dds_ros_bridge::GroundDdsRosBridge::BuildSensorImageToRos	(	const std::string &	pub_topic,
		const std::string &	name
	)

◆ Initialize()

bool ground_dds_ros_bridge::GroundDdsRosBridge::Initialize ( ros::NodeHandle * nh )

Use DdsEntitiesFactorySvc to create a new DdsEntitiesFactory which will create all objects: Participants DdsDomainParticpantRepository::instance() Publishers DdsPublisherRespoitory::instance() Subscribers DdsSubscriberRepository::instance() Topics and store in relevant repository based on DdsEntitesFactoryParameters

◆ ReadParams()

bool ground_dds_ros_bridge::GroundDdsRosBridge::ReadParams ( )

protected

◆ ReadTopicInfo()

bool ground_dds_ros_bridge::GroundDdsRosBridge::ReadTopicInfo	(	const std::string &	topic_abbr,
		const std::string &	sub_or_pub,
		std::string &	sub_topic,
		bool &	use
	)