Provides services for robot system sensors (Lidar/RGBD Camera/Binocular Camera). Through the SensorController, you can control robot sensors and obtain their status via RPC and topic mechanisms.

Interface Definition

SensorController is a management class that encapsulates various robot sensors, supporting initialization, control, and data subscription for Laser Scan, RGBD Camera, and Binocular Camera.

SensorController

Item	Description
Function Name	SensorController
Declaration	SensorController();
Overview	Constructor, initializes the sensor controller object.
Note	Constructs internal state.

~SensorController

Item	Description
Function Name	~SensorController
Declaration	virtual ~SensorController();
Overview	Destructor, releases all sensor resources.
Note	Sensors should be closed before calling.

Initialize

Item	Description
Function Name	Initialize
Declaration	bool Initialize();
Overview	Initializes the controller, including resource allocation and driver loading.
Return Value	true for success, false for failure.
Note	Object must be constructed before calling.

Shutdown

Item	Description
Function Name	Shutdown
Declaration	void Shutdown();
Overview	Closes all sensor connections and releases resources.
Note	Used together with Initialize.

OpenChannelSwith

Item	Description
Function Name	OpenChannelSwith
Declaration	Status OpenChannelSwith();
Overview	Opens the topic switch.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface.

CloseChannelSwith

Item	Description
Function Name	CloseChannelSwith
Declaration	Status CloseChannelSwith();
Overview	Closes the topic switch.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used together with the open function.

OpenLaserScan

Item	Description
Function Name	OpenLaserScan
Declaration	Status OpenLaserScan();
Overview	Opens the lidar.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface.

CloseLaserScan

Item	Description
Function Name	CloseLaserScan
Declaration	Status CloseLaserScan();
Overview	Closes the lidar.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used together with the open function.

OpenRgbdCamera

Item	Description
Function Name	OpenRgbdCamera
Declaration	Status OpenRgbdCamera();
Overview	Opens the RGBD camera.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface.

CloseRgbdCamera

Item	Description
Function Name	CloseRgbdCamera
Declaration	Status CloseRgbdCamera();
Overview	Closes the RGBD camera.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used together with the open function.

OpenBinocularCamera

Item	Description
Function Name	OpenBinocularCamera
Declaration	Status OpenBinocularCamera();
Overview	Opens the binocular camera.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface.

CloseBinocularCamera

Item	Description
Function Name	CloseBinocularCamera
Declaration	Status CloseBinocularCamera();
Overview	Closes the binocular camera.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used together with the open function.

SubscribeTof

Item	Description
Function Name	SubscribeTof
Declaration	void SubscribeTof(const TofCallback callback);
Overview	Subscribe to TOF data.
Parameter	callback: Callback function to handle received TOF data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeUltra

Item	Description
Function Name	SubscribeUltra
Declaration	void SubscribeUltra(const UltraCallback callback);
Overview	Subscribe to ultrasonic data.
Parameter	callback: Callback function to handle received ultrasonic data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeHeadTouch

Item	Description
Function Name	SubscribeHeadTouch
Declaration	void SubscribeHeadTouch(const HeadTouchCallback callback);
Overview	Subscribe to head touch data.
Parameter	callback: Callback function to handle received head touch data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeLaserScan

Item	Description
Function Name	SubscribeLaserScanr
Declaration	void SubscribeLaserScan(const LaserScanCallback callback);
Overview	Subscribe to lidar data.
Parameter	callback: Callback function to handle received lidar data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeRgbDepthCameraInfo

Item	Description
Function Name	SubscribeRgbDepthCameraInfo
Declaration	void SubscribeRgbDepthCameraInfo(const CameraInfoCallback callback);
Overview	Subscribe to RGBD depth camera intrinsic data.
Parameter	callback: Callback function to handle received RGBD depth camera intrinsic data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeRgbdDepthImage

Item	Description
Function Name	SubscribeRgbdDepthImage
Declaration	void SubscribeRgbdDepthImage(const ImageCallback callback);
Overview	Subscribe to RGBD depth image data.
Parameter	callback: Callback function to handle received RGBD depth image data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeRgbdColorCameraInfo

Item	Description
Function Name	SubscribeRgbdColorCameraInfo
Declaration	void SubscribeRgbdColorCameraInfo(const CameraInfoCallback callback);
Overview	Subscribe to RGBD color image intrinsic data.
Parameter	callback: Callback function to handle received RGBD color image intrinsic data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeRgbdColorImage

Item	Description
Function Name	SubscribeRgbdColorImage
Declaration	void SubscribeRgbdColorImage(const ImageCallback callback);
Overview	Subscribe to RGBD color image data.
Parameter	callback: Callback function to handle received RGBD color image data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeImu

Item	Description
Function Name	SubscribeImu
Declaration	void SubscribeImu(const ImuCallback callback);
Overview	Subscribe to IMU data.
Parameter	callback: Callback function to handle received IMU data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeLeftBinocularHighImg

Item	Description
Function Name	SubscribeLeftBinocularHighImg
Declaration	void SubscribeLeftBinocularHighImg(const CompressedImageCallback callback);
Overview	Subscribe to left high-quality binocular data.
Parameter	callback: Callback function to handle received left high-quality binocular data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeLeftBinocularLowImg

Item	Description
Function Name	SubscribeLeftBinocularLowImg
Declaration	void SubscribeLeftBinocularLowImg(const CompressedImageCallback callback);
Overview	Subscribe to left low-quality binocular data.
Parameter	callback: Callback function to handle received left low-quality binocular data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeRightBinocularLowImg

Item	Description
Function Name	SubscribeRightBinocularLowImg
Declaration	void SubscribeRightBinocularLowImg(const CompressedImageCallback callback);
Overview	Subscribe to right low-quality binocular data.
Parameter	callback: Callback function to handle received right low-quality binocular data.
Note	Non-blocking interface, callback will be invoked when data updates.

SubscribeDepthImage

Item	Description
Function Name	SubscribeDepthImage
Declaration	void SubscribeDepthImage(const ImageCallback callback);
Overview	Subscribe to depth image.
Parameter	callback: Callback function to handle received depth image.
Note	Non-blocking interface, callback will be invoked when data updates.

Type Definitions

Imu — IMU Data Structure

Field Name	Type	Description
timestamp	int64_t	Timestamp (unit: nanoseconds)
orientation[4]	double[4]	Orientation quaternion (w, x, y, z)
angular_velocity[3]	double[3]	Angular velocity (unit: rad/s)
linear_acceleration[3]	double[3]	Linear acceleration (unit: m/s²)
temperature	float	Temperature (unit: Celsius or other, should be specified)

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Header — Common Message Header Structure

Field Name	Type	Description
stamp	int64_t	Timestamp (unit: nanoseconds)
frame_id	std::string	Coordinate frame name

---

PointField — Point Field Description

Field Name	Type	Description
name	std::string	Field name (e.g., x, y, z, intensity)
offset	int32_t	Starting byte offset
datatype	int8_t	Data type (corresponding constant)
count	int32_t	Number of elements per point for this field

---

PointCloud2 — Point Cloud Data Structure

Field Name	Type	Description
header	Header	Message header
height	int32_t	Number of rows
width	int32_t	Number of columns
fields	std::vector<PointField>	Array of point fields
is_bigendian	bool	Byte order
point_step	int32_t	Bytes per point
row_step	int32_t	Bytes per row
data	std::vector<uint8_t>	Raw point cloud byte data
is_dense	bool	Is dense point cloud (no invalid points)

---

Image — Image Data Structure

Field Name	Type	Description
header	Header	Message header
height	int32_t	Image height (pixels)
width	int32_t	Image width (pixels)
encoding	std::string	Encoding type (e.g., rgb8, mono8)
is_bigendian	bool	Is big-endian mode
step	int32_t	Bytes per image row
data	std::vector<uint8_t>	Raw image byte data

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CameraInfo — Camera Intrinsic and Distortion Information

Field Name	Type	Description
header	Header	Message header
height	int32_t	Image height
width	int32_t	Image width
distortion_model	std::string	Distortion model (e.g., plumb_bob)
D	std::vector<double>	Distortion parameter array
K	double[9]	Camera intrinsic matrix
R	double[9]	Rectification matrix
P	double[12]	Projection matrix
binning_x	int32_t	Horizontal binning factor
binning_y	int32_t	Vertical binning factor
roi_x_offset	int32_t	ROI starting x coordinate
roi_y_offset	int32_t	ROI starting y coordinate
roi_height	int32_t	ROI height
roi_width	int32_t	ROI width
roi_do_rectify	bool	Whether to rectify

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CompressedImage — Compressed Image Data Structure

Field Name	Type	Description
header	Header	Message header
format	std::string	Compression format (e.g., jpeg, png)
data	std::vector<uint8_t>	Compressed image data

---

LaserScan — Lidar Data Structure

Field Name	Type	Description
header	Header	Message header
angle_min	int32_t	Start angle (radians)
angle_max	int32_t	End angle (radians)
angle_increment	int32_t	Angle increment (radians)
time_increment	int32_t	Time increment (seconds)
scan_time	int32_t	Scan time (seconds)
range_min	int32_t	Minimum range (meters)
range_max	int32_t	Maximum range (meters)
ranges	std::vector<double>	Range data array
intensities	std::vector<double>	Intensity data array

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MultiArrayDimension — Multi-dimensional Array Dimension Description

Field Name	Type	Description
label	std::string	Dimension label
size	int32_t	Dimension size
stride	int32_t	Stride

---

MultiArrayLayout — Multi-dimensional Array Layout Description

Field Name	Type	Description
dim_size	int32_t	Number of dimensions
dim	std::vector<MultiArrayDimension>	Array of dimensions
data_offset	int32_t	Data offset

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Float32MultiArray — Float Multi-dimensional Array

Field Name	Type	Description
layout	MultiArrayLayout	Array layout information
data	std::vector<float>	Float data array

---

Int8 — 8-bit Integer Data Structure

Field Name	Type	Description
data	int8_t	8-bit integer data

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HeadTouch — Head Touch Data Structure

Item	Description
Type	Int8
Description	Head touch sensor data, using 8-bit integer format