ROS object reader

Description

The section called ROS object reader reads incoming data from a ROS message and translate it into a readable data that you could use directly into Torero libray or your project.

Type	Code
Header	#include "rocinante/ros_object_reader.h"

List of all public members

Returns	Member
	ROSObjectReader(const std::string &message_name)
void	resubscribe(const std::string &message_name)
const std::vector *const	segments()
const std::string&	subscribed_message()

ROS object reader

Constructing the class

This function will create the ROS object reader class, you only need to define the ROS message name.

namespace Rocinante {
  ROSObjectReader(const std::string &message_name);
}

  Arguments

Type	Name	Description
[const std::string&]	message_name	ROS message name as listed at console using rostopic list command.

---

Changing the ROS topic (message)

This will change the read message, the new message must be the same type than the previous.

void resubscribe(const std::string &message_name);

  Arguments

Type	Name	Description
[const std::string&]	message_name	ROS message name as listed at console using rostopic list command.

---

Obtaining the address to the data vector

This function will return the address to the vector containing all the read data.

const std::vector<Visualizer::Object> *segments() const;

  Returns
    [const std::vector<Visualizer::Object> *const] | Returns the address of the vector containing the data.

---

Obtaining the name of the subscribed message

This function will return the name of the ROS message.

const std::string &subscribed_message();

  Returns
    [const std::string&] | Returns the ROS message name.

---

Data structure

ROS messages' structure

Objects message

This message is the data container for all the objects.

Header header

object[] objects

Object message

This message represents a single object with 3D position, 3D dimensions, 3D speed, orientation in Euler angles, object's path, type of object and object's name

Header header

float32 position_x
float32 position_y
float32 position_z

float32 width
float32 height
float32 length

float32 velocity_x
float32 velocity_y
float32 velocity_z

float32 pitch
float32 yaw
float32 roll

lane[] path

int32 type

string name

Output data structure

Objects

This represents a single object with 3D position, orientation in Euler angles, 3D dimensions, RGBA color, arrow orientation in Euler angles, arrow length, if the arrow is visible, if is a solid object (filled faces), line width and the object's name

struct Object{
  // Object position (LOCATED at the object's center)
  float x = 0.0f;
  float y = 0.0f;
  float z = 0.0f;
  // Object direction (in radians)
  float pitch = 0.0f;
  float yaw   = 0.0f;
  float roll  = 0.0f;
  // Object's size in meters
  float width  = 1.0f;
  float length = 1.0f;
  float height = 1.0f;
  // Object's color (0 to 255)
  float r     = 255.0f;
  float g     = 255.0f;
  float b     = 255.0f;
  float alpha = 255.0f;
  // Arrow's properties:
  // Arrow's direction (in readians)
  float arrow_pitch = 0.0f;
  float arrow_yaw   = 0.0f;
  float arrow_roll  = 0.0f;
  // Arrow's length in meters
  float arrow_length = 1.0f;
  // Displays the arrow
  bool arrow = true;
  // Displays the object as a solid (filled faces)
  bool solid = false;
  // Line width in meters
  float line_width = 0.1f;
  std::string name;
};