#include <realtime_publisher.h>

Public Member Functions
void	init (const ros::NodeHandle &node, const std::string &topic, int queue_size, bool latched=false)

void	lock ()
	Get the data lock form non-realtime. More...

	RealtimePublisher ()

	RealtimePublisher (const ros::NodeHandle &node, const std::string &topic, int queue_size, bool latched=false)
	Constructor for the realtime publisher. More...

void	stop ()
	Stop the realtime publisher from sending out more ROS messages. More...

bool	trylock ()
	Try to get the data lock from realtime. More...

void	unlock ()
	Unlocks the data without publishing anything. More...

void	unlockAndPublish ()
	Unlock the msg_ variable. More...

	~RealtimePublisher ()
	Destructor. More...

Public Attributes
Msg	msg_
	The msg_ variable contains the data that will get published on the ROS topic. More...

Private Types
enum	{ REALTIME, NON_REALTIME, LOOP_NOT_STARTED }

Private Member Functions
void	construct (int queue_size, bool latched=false)

RealtimePublisher &	operator= (const RealtimePublisher &)=delete

void	publishingLoop ()

	RealtimePublisher (const RealtimePublisher &)=delete

Private Attributes
std::atomic< bool >	is_running_

std::atomic< bool >	keep_running_

std::mutex	msg_mutex_

ros::NodeHandle	node_

ros::Publisher	publisher_

std::thread	thread_

std::string	topic_

std::atomic< int >	turn_

Detailed Description

template<class Msg>
class realtime_tools::RealtimePublisher< Msg >

Definition at line 54 of file realtime_publisher.h.

Member Enumeration Documentation

◆ anonymous enum

template<class Msg >

anonymous enum

private

Enumerator
REALTIME
NON_REALTIME
LOOP_NOT_STARTED

Definition at line 241 of file realtime_publisher.h.

Constructor & Destructor Documentation

◆ RealtimePublisher() [1/3]

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::RealtimePublisher	(	const ros::NodeHandle &	node,
		const std::string &	topic,
		int	queue_size,
		bool	latched = `false`
	)

inline

Constructor for the realtime publisher.

Parameters

node	the nodehandle that specifies the namespace (or prefix) that is used to advertise the ROS topic
topic	the topic name to advertise
queue_size	the size of the outgoing ROS buffer
latched	. optional argument (defaults to false) to specify is publisher is latched or not

Definition at line 68 of file realtime_publisher.h.

◆ RealtimePublisher() [2/3]

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::RealtimePublisher ( )

inline

Definition at line 74 of file realtime_publisher.h.

◆ ~RealtimePublisher()

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::~RealtimePublisher ( )

inline

Destructor.

Definition at line 80 of file realtime_publisher.h.

◆ RealtimePublisher() [3/3]

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::RealtimePublisher ( const RealtimePublisher< Msg > & )

privatedelete

Member Function Documentation

◆ construct()

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::construct	(	int	queue_size,
		bool	latched = `false`
	)

inlineprivate

Definition at line 184 of file realtime_publisher.h.

◆ init()

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::init	(	const ros::NodeHandle &	node,
		const std::string &	topic,
		int	queue_size,
		bool	latched = `false`
	)

inline

Definition at line 95 of file realtime_publisher.h.

◆ lock()

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::lock ( )

inline

Get the data lock form non-realtime.

To publish data from the realtime loop, you need to run trylock to attempt to get unique access to the msg_ variable. Trylock returns true if the lock was aquired, and false if it failed to get the lock.

Definition at line 155 of file realtime_publisher.h.

◆ operator=()

template<class Msg >

RealtimePublisher& realtime_tools::RealtimePublisher< Msg >::operator= ( const RealtimePublisher< Msg > & )

privatedelete

◆ publishingLoop()

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::publishingLoop ( )

inlineprivate

Definition at line 192 of file realtime_publisher.h.

◆ stop()

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::stop ( )

inline

Stop the realtime publisher from sending out more ROS messages.

Definition at line 103 of file realtime_publisher.h.

◆ trylock()

template<class Msg >

bool realtime_tools::RealtimePublisher< Msg >::trylock ( )

inline

Try to get the data lock from realtime.

To publish data from the realtime loop, you need to run trylock to attempt to get unique access to the msg_ variable. Trylock returns true if the lock was aquired, and false if it failed to get the lock.

Definition at line 117 of file realtime_publisher.h.

◆ unlock()

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::unlock ( )

inline

Unlocks the data without publishing anything.

Definition at line 171 of file realtime_publisher.h.

◆ unlockAndPublish()

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::unlockAndPublish ( )

inline

Unlock the msg_ variable.

After a successful trylock and after the data is written to the mgs_ variable, the lock has to be released for the message to get published on the specified topic.

Definition at line 143 of file realtime_publisher.h.

Member Data Documentation

◆ is_running_

template<class Msg >

std::atomic<bool> realtime_tools::RealtimePublisher< Msg >::is_running_

private

Definition at line 230 of file realtime_publisher.h.

◆ keep_running_

template<class Msg >

std::atomic<bool> realtime_tools::RealtimePublisher< Msg >::keep_running_

private

Definition at line 231 of file realtime_publisher.h.

◆ msg_

template<class Msg >

Msg realtime_tools::RealtimePublisher< Msg >::msg_

The msg_ variable contains the data that will get published on the ROS topic.

Definition at line 59 of file realtime_publisher.h.

◆ msg_mutex_

template<class Msg >

std::mutex realtime_tools::RealtimePublisher< Msg >::msg_mutex_

private

Definition at line 235 of file realtime_publisher.h.

◆ node_

template<class Msg >

ros::NodeHandle realtime_tools::RealtimePublisher< Msg >::node_

private

Definition at line 228 of file realtime_publisher.h.

◆ publisher_

template<class Msg >

ros::Publisher realtime_tools::RealtimePublisher< Msg >::publisher_

private

Definition at line 229 of file realtime_publisher.h.

◆ thread_

template<class Msg >

std::thread realtime_tools::RealtimePublisher< Msg >::thread_

private

Definition at line 233 of file realtime_publisher.h.

◆ topic_

template<class Msg >

std::string realtime_tools::RealtimePublisher< Msg >::topic_

private

Definition at line 227 of file realtime_publisher.h.

◆ turn_

template<class Msg >

std::atomic<int> realtime_tools::RealtimePublisher< Msg >::turn_

private

Definition at line 242 of file realtime_publisher.h.

The documentation for this class was generated from the following file:

realtime_publisher.h

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<class Msg> class realtime_tools::RealtimePublisher< Msg >

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ RealtimePublisher() [1/3]

◆ RealtimePublisher() [2/3]

◆ ~RealtimePublisher()

◆ RealtimePublisher() [3/3]

Member Function Documentation

◆ construct()

◆ init()

◆ lock()

◆ operator=()

◆ publishingLoop()

◆ stop()

◆ trylock()

◆ unlock()

◆ unlockAndPublish()

Member Data Documentation

◆ is_running_

◆ keep_running_

◆ msg_

◆ msg_mutex_

◆ node_

◆ publisher_

◆ thread_

◆ topic_

◆ turn_

template<class Msg>
class realtime_tools::RealtimePublisher< Msg >