Autoware.Auto
lgsvl_interface::LgsvlInterfaceNode Class Reference

#include <lgsvl_interface_node.hpp>

Inheritance diagram for lgsvl_interface::LgsvlInterfaceNode:
Collaboration diagram for lgsvl_interface::LgsvlInterfaceNode:

Public Member Functions

 LgsvlInterfaceNode (const rclcpp::NodeOptions &options)
 
- 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

Node wrapping LgsvlInterface. For a full list of behaviors, see SVL simulator

Constructor & Destructor Documentation

◆ LgsvlInterfaceNode()

lgsvl_interface::LgsvlInterfaceNode::LgsvlInterfaceNode ( const rclcpp::NodeOptions &  options)
explicit

ROS 2 parameter constructor

Parameters
[in]optionsAn rclcpp::NodeOptions object

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