ark::robot_information::RobotInformationSubscriber

Defined in header “ark/robot_information/robot_information_subscriber.hh”.

---

Subscribes to RobotInformation and holds the most recent data received. This is primarily a helper class to aid in multiple stages needing the RobotInformation data.

Methods

• RobotInformationSubscriber(pipeline::StageInterface & interface, const std::string & channel_name)
  Constructor. Initializes the subscriber against the given channel name.

• bool identity_valid()
  Returns true if the robot identity has been received.

• std::optional< RobotInformation > robot_information()
  Returns robot information, which may be null if it hasn’t been received.