Drake
|
Systems for publishing/subscribing to popular message passing ecosystems.
Classes | |
class | LcmInterfaceSystem |
LcmInterfaceSystem acts within a Diagram to allow LcmSubscriberSystem instances to receive data from the network during a simulation. More... | |
class | LcmPublisherSystem |
Publishes an LCM message containing information from its input port. More... | |
class | LcmScopeSystem |
LcmScopeSystem provides the ability to convert any vector output port to a simple LCM message and publish that message periodically. More... | |
class | LcmSubscriberSystem |
Receives LCM messages from a given channel and outputs them to a System<double>'s port. More... | |
Functions | |
LcmPublisherSystem * | ConnectLcmScope (const OutputPort< double > &src, const std::string &channel, systems::DiagramBuilder< double > *builder, drake::lcm::DrakeLcmInterface *lcm, double publish_period=0.0) |
(To be deprecated.) Prefer to use LcmScopeSystem::AddToBuilder instead of this function; the LcmScopeSystem provides more detailed timestamps. More... | |
LcmPublisherSystem* drake::systems::lcm::ConnectLcmScope | ( | const OutputPort< double > & | src, |
const std::string & | channel, | ||
systems::DiagramBuilder< double > * | builder, | ||
drake::lcm::DrakeLcmInterface * | lcm, | ||
double | publish_period = 0.0 |
||
) |
(To be deprecated.) Prefer to use LcmScopeSystem::AddToBuilder instead of this function; the LcmScopeSystem provides more detailed timestamps.
Provides the ability to publish any vector-valued output port to the LCM channel
, using the drake::lcmt_drake_signal LCM message type, by adding an appropriate LcmPublisherSystem to the builder
. If lcm
is null, then an LCM instance will be created automatically (but this is expensive, and creating multiple LCM instances in a single process should be avoided).
The intention is to enable logging and debugging in complex diagrams using external tools like lcm-spy
.
The optional publish_period
specifies how often messages will be published. If the period is zero (the default), then the underlying LcmPublisherSystem will publish every step.
src
must be an OutputPort of a system that has already been added to the builder
.