ros::master Namespace Reference

Contains functions which allow you to query information about the master. More...

Classes
struct	TopicInfo
	Contains information retrieved from the master about a topic. More...
Typedefs
typedef std::vector< TopicInfo >	V_TopicInfo
Functions
bool	check ()
	Check whether the master is up.
bool	execute (const std::string &method, const XmlRpc::XmlRpcValue &request, XmlRpc::XmlRpcValue &response, XmlRpc::XmlRpcValue &payload, bool wait_for_master)
	Execute an XMLRPC call on the master.
const std::string &	getHost ()
	Get the hostname where the master runs.
bool	getNodes (V_string &nodes)
	Retreives the currently-known list of nodes from the master.
uint32_t	getPort ()
	Get the port where the master runs.
bool	getTopics (V_TopicInfo &topics)
	Get the list of topics that are being published by all nodes.
const std::string &	getURI ()
	Get the full URI to the master (eg. http://host:port/).
void	init (const M_string &remappings)
void	setRetryTimeout (ros::WallDuration timeout)
	Set the max time this node should spend looping trying to connect to the master.
Variables
std::string	g_host
uint32_t	g_port = 0
ros::WallDuration	g_retry_timeout
std::string	g_uri

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Detailed Description

Contains functions which allow you to query information about the master.

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Typedef Documentation

typedef std::vector<TopicInfo> ros::master::V_TopicInfo

Definition at line 90 of file master.h.

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Function Documentation

bool ros::master::check

(

)

Check whether the master is up.

This method tries to contact the master. You can call it any time after ros::init has been called. The intended usage is to check whether the master is up before trying to make other requests (subscriptions, advertisements, etc.).

Returns:

true if the master is available, false otherwise.

Definition at line 104 of file master.cpp.

bool ros::master::execute	(	const std::string &	method,
		const XmlRpc::XmlRpcValue &	request,
		XmlRpc::XmlRpcValue &	response,
		XmlRpc::XmlRpcValue &	payload,
		bool	wait_for_master
	)

Execute an XMLRPC call on the master.

Parameters:

	method	The RPC method to invoke
	request	The arguments to the RPC call
	response	[out] The resonse that was received.
	payload	[out] The payload that was received.
	wait_for_master	Whether or not this call should loop until it can contact the master

Returns:

true if call succeeds, false otherwise.

Definition at line 164 of file master.cpp.

const std::string & ros::master::getHost

(

)

Get the hostname where the master runs.

Returns:

The master's hostname, as a string

Definition at line 84 of file master.cpp.

bool ros::master::getNodes

(

V_string &

nodes

)

Retreives the currently-known list of nodes from the master.

Definition at line 131 of file master.cpp.

uint32_t ros::master::getPort

(

)

Get the port where the master runs.

Returns:

The master's port.

Definition at line 89 of file master.cpp.

bool ros::master::getTopics

(

V_TopicInfo &

topics

)

Get the list of topics that are being published by all nodes.

This method communicates with the master to retrieve the list of all currently advertised topics.

Parameters:

topics

A place to store the resulting list. Each item in the list is a pair <string topic, string type>. The type is represented in the format "package_name/MessageName", and is also retrievable through message.__getDataType() or MessageName::__s_getDataType().

Returns:

true on success, false otherwise (topics not filled in)

Definition at line 111 of file master.cpp.

const std::string & ros::master::getURI

(

)

Get the full URI to the master (eg. http://host:port/).

Definition at line 94 of file master.cpp.

void ros::master::init

(

const M_string &

remappings

)

Definition at line 50 of file master.cpp.

void ros::master::setRetryTimeout

(

ros::WallDuration

timeout

)

Set the max time this node should spend looping trying to connect to the master.

Parameters:

The

timeout. A negative value means infinite

Definition at line 99 of file master.cpp.

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Variable Documentation

std::string ros::master::g_host

Definition at line 46 of file master.cpp.

uint32_t ros::master::g_port = 0

Definition at line 45 of file master.cpp.

ros::WallDuration ros::master::g_retry_timeout

Definition at line 48 of file master.cpp.

std::string ros::master::g_uri

Definition at line 47 of file master.cpp.