triorb_safe_run_cpp
パス: triorb_drive/triorb_safe_run_cpp
説明: C++ implementation of the TriOrb safe run velocity filter.
triorb_safe_run_cpp
C++ implementation of the TriOrb safe run velocity filter.
Node interface
| Direction | Topic | Type | Notes |
|---|---|---|---|
| Subscribe | /<prefix>/sick/point2d/right (configurable) |
sensor_msgs/msg/PointCloud |
Synchronized via ApproximateTime. point2d_topics can list two or more streams. |
| Subscribe | /<prefix>/sick/point2d/left (configurable) |
sensor_msgs/msg/PointCloud |
Same as above; add entries in config to change topics. |
| Subscribe | /<prefix>/safe_drive/run_vel |
triorb_drive_interface/msg/TriorbRunVel3 |
Raw velocity command to be filtered. |
| Publish | /<prefix>/drive/run_vel |
triorb_drive_interface/msg/TriorbRunVel3 |
Safe velocity command after potential-field filtering. |
| Publish | /<prefix>/drive/set_life_time |
std_msgs/msg/UInt16 |
Optional watchdog lifetime (currently throttled). |
| Publish | /<prefix>/triorb_safe_run/config |
std_msgs/msg/String |
現在の設定をJSON文字列で3秒周期に配信。 |
| Publish | /<prefix>/triorb_safe_run/debug/image/compressed |
sensor_msgs/msg/CompressedImage |
Enabled when enable_image_pub=true; shows occupancy & vectors. |
| Publish | /<prefix>/except_handl/node/add etc. |
std_msgs/msg/String |
Registration and diagnostic topics inherited from Python node. |
| Service | /<prefix>/triorb_safe_run/set_config |
triorb_static_interface/srv/SetString |
Pass a JSON string (first element of request[]) to replace the runtime configuration. |
| Service | /<prefix>/triorb_safe_run/set_param |
triorb_static_interface/srv/SetString |
request[0]にJSONオブジェクトを渡すと複数パラメータをまとめて更新。[キー1,値1(JSON),キー2,値2(JSON)...]形式の偶数要素指定でも一括更新可。[キー,値(JSON)]形式は従来互換で1件更新。パース失敗時は例外を捕捉しエラー応答。 |
| Service | /<prefix>/triorb_safe_run/get_config |
triorb_static_interface/srv/GetString |
Returns the current configuration as JSON text in result. |