Package com.marslib.vision

Class VIOSlamIOROS2

java.lang.Object

com.marslib.vision.VIOSlamIOROS2

All Implemented Interfaces:

VIOSlamIO

public class VIOSlamIOROS2
extends Object
implements VIOSlamIO

Real hardware implementation of VIOSlamIO sourcing poses from a ROS2 coprocessor.

Subscribes to a Pose3d struct topic published by a Jetson/Pi running a ROS2 SLAM node. Timestamps are converted from NT4 microseconds to WPILib seconds for fusion compatibility.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.vision.VIOSlamIO

VIOSlamIO.VIOSlamIOInputs

Constructor Summary

Constructors

Constructor	Description
VIOSlamIOROS2(String tableName, String topicName)

Method Summary

Modifier and Type	Method	Description
void	updateInputs(VIOSlamIO.VIOSlamIOInputs inputs)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

VIOSlamIOROS2

public VIOSlamIOROS2(String tableName,
 String topicName)

Method Details

updateInputs

public void updateInputs(VIOSlamIO.VIOSlamIOInputs inputs)

Specified by:

updateInputs in interface VIOSlamIO