Class GmObserverRos2

Defined in File GmObserverRos2.h

Inheritance Relationships

Base Type

public legged::GmObserver

Class Documentation

class GmObserverRos2 : public legged::GmObserver 

Public Types

using SharedPtr = std::shared_ptr<GmObserverRos2>

Public Functions

GmObserverRos2(const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> &node, const std::shared_ptr<LeggedModel> &leggedModel, scalar_t cutoffFrequency = 10)

void update(const rclcpp::Time &time, const rclcpp::Duration &period)

Protected Attributes

std::vector<std::shared_ptr<rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>>> wrenchesPub_

std::vector<std::shared_ptr<realtime_tools::RealtimePublisher<geometry_msgs::msg::WrenchStamped>>> wrenchesPubRealtime_