This class is a bridge between a ROS network and a CanOpen network. More...

#include <bridge.h>

Public Member Functions
void	run ()
	Runs the ROS spinner and blocks until shutdown (e.g. via Ctrl+c).

void	add_publisher (std::shared_ptr< Publisher > publisher, double loop_rate=10)
	Adds a Publisher, advertises it and publishes messages repeatedly. More...

void	add_subscriber (std::shared_ptr< Subscriber > subscriber)
	Adds a Subscriber, which can advertise itself and receive messages on its own. More...

Detailed Description

This class is a bridge between a ROS network and a CanOpen network.

Definition at line 48 of file bridge.h.

Member Function Documentation

void kaco::Bridge::add_publisher	(	std::shared_ptr< Publisher >	publisher,
		double	loop_rate = `10`
	)

Adds a Publisher, advertises it and publishes messages repeatedly.

Parameters

publisher	The publisher. It's a smart pointer because references to a publisher may never change after advertising it to ROS.
loop_rate	Publishing rate in hertz. Default is 10 Hz.

Definition at line 41 of file bridge.cpp.

void kaco::Bridge::add_subscriber ( std::shared_ptr< Subscriber > subscriber )

Adds a Subscriber, which can advertise itself and receive messages on its own.

Parameters

subscriber The subscriber. It's a smart pointer because references to a subscriber may never change after advertising it to ROS.

Definition at line 55 of file bridge.cpp.

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