Class PerceptionModule
Defined in File perception.hpp
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public rclcpp_lifecycle::LifecycleNode
Class Documentation
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class psdk_ros2::PerceptionModule : public rclcpp_lifecycle::LifecycleNode
Public Functions
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explicit PerceptionModule(const std::string &name)
Construct a new PerceptionModule object.
- Parameters
node_name – Name of the node
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~PerceptionModule()
Destroy the PerceptionModule object.
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CallbackReturn on_configure(const rclcpp_lifecycle::State &state)
Configures the PerceptionModule. Creates the ROS 2 subscribers and services.
- Parameters
state – rclcpp_lifecycle::State. Current state of the node.
- Returns
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_activate(const rclcpp_lifecycle::State &state)
Activates the PerceptionModule.
- Parameters
state – rclcpp_lifecycle::State. Current state of the node.
- Returns
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state)
Cleans the PerceptionModule. Resets the ROS 2 subscribers and services.
- Parameters
state – rclcpp_lifecycle::State. Current state of the node.
- Returns
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state)
Deactivates the PerceptionModule.
- Parameters
state – rclcpp_lifecycle::State. Current state of the node.
- Returns
CallbackReturn SUCCESS or FAILURE
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CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state)
Shuts down the PerceptionModule.
- Parameters
state – rclcpp_lifecycle::State. Current state of the node.
- Returns
CallbackReturn SUCCESS or FAILURE
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bool init()
Initialize the PerceptionModule.
- Returns
true/false
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bool deinit()
Deinitialize the PerceptionModule.
- Returns
true/false
Private Functions
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void perception_image_callback(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer, uint32_t bufferLen)
Stereo camera stream of both left and right camera sensor.
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void perception_camera_parameters_publisher()
Stereo camera parameters publisher publish camera parametes of selected direction.
- Returns
true/false True if pervious camera strem cleared successfully otherwise false
Start Perception Streaming.
- Parameters
request – Perception stereo camera stream Direction DOWN = 0, FRONT = 1, REAR = 2, UP = 3, LEFT = 4, RIGHT = 5
response – PerceptionStereoVisionSetup service response
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bool start_perception_stereo_cameras_stream(const uint stereo_cameras_direction)
Start the perception stereo camera stream.
- Parameters
stereo_cameras_direction – select perception stereo cameras direction
- Returns
true/false Returns true if the streaming has been started correctly and False otherwise.
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bool stop_perception_stereo_cameras_stream(const uint stereo_cameras_direction)
Stop the perception stereo camera stream.
- Parameters
stereo_cameras_direction – select perception stereo cameras direction
- Returns
true/false Returns true if the streaming has been stoped correctly and False otherwise.
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bool clear_perception_stereo_cameras_stream()
Clear the previous perception stereo camera stream.
Private Members
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std::unordered_map<std::string, uint8_t> direction_map_ = {{"DOWN", 0}, {"FRONT", 1}, {"REAR", 2}, {"UP", 3}, {"LEFT", 4}, {"RIGHT", 5}}
Populate the direction map for perception stereo camera direction. refer typedef enum E_DjiPerceptionDirection for more information.
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struct PerceptionParams
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explicit PerceptionModule(const std::string &name)