autoware::ne_raptor_interface::NERaptorInterfaceNode Class Reference

NE Raptor Interface node version of VehicleInterfaceNode. More...

Inheritance diagram for autoware::ne_raptor_interface::NERaptorInterfaceNode:

Collaboration diagram for autoware::ne_raptor_interface::NERaptorInterfaceNode:

Public Member Functions
	NERaptorInterfaceNode (const rclcpp::NodeOptions &options)
	default constructor, starts driver More...

Public Member Functions inherited from autoware::drivers::vehicle_interface::VehicleInterfaceNode
	VehicleInterfaceNode (const std::string &node_name, const std::unordered_set< ViFeature > &features, const rclcpp::NodeOptions &options)

template<>
void	on_command_message (const autoware_auto_vehicle_msgs::msg::RawControlCommand &msg)

template<>
void	on_command_message (const autoware_auto_control_msgs::msg::AckermannControlCommand &msg)

template<>
void	on_command_message (const autoware_auto_vehicle_msgs::msg::VehicleControlCommand &msg)

template<>
void	on_command_message (const autoware_auto_control_msgs::msg::HighLevelControlCommand &msg)

Additional Inherited Members
Protected Types inherited from autoware::drivers::vehicle_interface::VehicleInterfaceNode
using	ControllerBasePtr = std::unique_ptr< common::reference_tracking_controller::ReferenceTrackerBase< Real > >

using	FilterBasePtr = std::unique_ptr< common::signal_filters::FilterBase< Real > >

using	ModeChangeRequest = autoware_auto_vehicle_msgs::srv::AutonomyModeChange_Request

using	ModeChangeResponse = autoware_auto_vehicle_msgs::srv::AutonomyModeChange_Response

Protected Member Functions inherited from autoware::drivers::vehicle_interface::VehicleInterfaceNode
void	set_filter (VehicleFilter &&filter) noexcept
	Set the low pass filter. More...

void	set_reference_tracker (ControllerBasePtr &&controller) noexcept
	Set the reference tracker (controller) More...

void	set_interface (std::unique_ptr< PlatformInterface > &&interface) noexcept
	Set the vehicle-specific PlatformInterface. More...

rclcpp::Logger	logger () const noexcept
	Get access to logger. More...

const SafetyStateMachine	get_state_machine () const noexcept
	Get access to Safety State Machine. More...

virtual void	on_control_send_failure ()

virtual void	on_state_send_failure ()

virtual void	on_mode_change_failure ()

virtual void	on_read_timeout ()

virtual void	on_error (std::exception_ptr eptr)
	Handle exception thrown in main loop. Default behavior is to set NodeState to ERROR. More...

Detailed Description

NE Raptor Interface node version of VehicleInterfaceNode.

autoware::ne_raptor_interface::NERaptorInterfaceNode::NERaptorInterfaceNode ( const rclcpp::NodeOptions & options )

explicit

default constructor, starts driver

Parameters

[in] options Options for the node

Exceptions

runtime error if failed to start threads or configure driver

The documentation for this class was generated from the following files: