Skip to content

feat: Add event interfaces and board-clocked IMU pipeline#83

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
qzhhhi merged 2 commits into from
Jun 12, 2026
Merged

feat: Add event interfaces and board-clocked IMU pipeline #83

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
a2306bd
feat: Add event interfaces and board-clocked IMU pipeline
qzhhhi Jun 10, 2026
8e8a196
fix
qzhhhi Jun 10, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions rmcs_ws/src/rmcs_core/src/broadcaster/tf_broadcaster.cpp
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -26,6 +26,8 @@ class TfBroadcaster
}
~TfBroadcaster() = default;

void before_updating() override { fast_tf::rcl::broadcast_all(*tf_); }

void update() override {
using namespace std::chrono_literals;
if (*update_count_ == 0)
Expand Down
10 changes: 6 additions & 4 deletions rmcs_ws/src/rmcs_core/src/broadcaster/value_broadcaster.cpp
View file
Open in desktop
Original file line numberDiff line numberDiff line change
Expand Up@@ -19,9 +19,11 @@ class ValueBroadcaster
[this](const rclcpp::Parameter& para) { update_forward_list(para.as_string_array()); });
}

void before_pairing(const std::map<std::string, const std::type_info&>& output_map) override {
for (const auto& [name, type] : output_map) {
if (type == typeid(double)) {
void before_pairing(const OutputInfoMap& output_map) override {
for (const auto& [name, output] : output_map) {
if (output.kind != rmcs_executor::InterfaceKind::Normal)
continue;
if (output.type.get() == typeid(double)) {
forward_units_.emplace(
name,
std::make_unique<ForwardUnit<double, std_msgs::msg::Float64>>(this, name));
Expand DownExpand Up@@ -117,4 +119,4 @@ class ValueBroadcaster

#include <pluginlib/class_list_macros.hpp>

PLUGINLIB_EXPORT_CLASS(rmcs_core::broadcaster::ValueBroadcaster, rmcs_executor::Component)
PLUGINLIB_EXPORT_CLASS(rmcs_core::broadcaster::ValueBroadcaster, rmcs_executor::Component)
Loading