Apollo
10.0
自动驾驶开放平台
apollo_ros_converter.cc
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/******************************************************************************
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* Copyright 2023 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#include "
cyber/ros_bridge/converters/examples/apollo_ros_converter/apollo_ros_converter.h
"
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namespace
apollo
{
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namespace
cyber {
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bool
ApolloRosConverter::ConvertMsg
(
InputTypes<InputMsg0Ptr>
& in,
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OutputTypes<OutputMsg0Ptr>
& out) {
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#ifdef ENABLE_ROS_MSG
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auto
in_msg = std::get<0>(in.
values
);
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auto
out_msg = std::get<0>(out.
values
);
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out_msg->data = in_msg->text();
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// out->data = in->text();
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#endif
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return
true
;
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}
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}
// namespace cyber
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}
// namespace apollo
apollo_ros_converter.h
apollo::cyber::ApolloRosConverter::ConvertMsg
virtual bool ConvertMsg(InputTypes< InputMsg0Ptr > &, OutputTypes< OutputMsg0Ptr > &)
convert the message between ros and apollo
Definition
apollo_ros_converter.cc:22
apollo
class register implement
Definition
arena_queue.h:37
apollo::cyber::InputTypes
Definition
converter_base.h:33
apollo::cyber::InputTypes::values
std::tuple< Types... > values
Definition
converter_base.h:34
apollo::cyber::OutputTypes
Definition
converter_base.h:39
apollo::cyber::OutputTypes::values
std::tuple< Types... > values
Definition
converter_base.h:40
cyber
ros_bridge
converters
examples
apollo_ros_converter
apollo_ros_converter.cc