Nodelet to automatically subscribe/unsubscribe topics according to subscription of advertised topics. More...

#include <nodelet_lazy.h>

Inheritance diagram for nodelet_topic_tools::NodeletLazy:

Public Member Functions
	NodeletLazy ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
template<class T >
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)
	Update the list of Publishers created by this method. It automatically reads latch boolean parameter from nh and publish topic with appropriate latch parameter. More...

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come More...

virtual void	onInit ()
	Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method. More...

virtual void	onInitPostProcess ()
	Post processing of initialization of nodelet. You need to call this method in order to use always_subscribe feature. More...

virtual void	subscribe ()=0
	This method is called when publisher is subscribed by other nodes. Set up subscribers in this method. More...

virtual void	unsubscribe ()=0
	This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this method. More...

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)
	callback function which is called when walltimer duration run out. More...

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
boost::mutex	connection_mutex_
	mutex to call subscribe() and unsubscribe() in critical section. More...

ConnectionStatus	connection_status_
	Status of connection. More...

bool	ever_subscribed_
	A flag to check if the node has been ever subscribed or not. More...

bool	lazy_
	A flag to disable watching mechanism and always subscribe input topics. It can be specified via `~lazy` parameter. More...

boost::shared_ptr< ros::NodeHandle >	nh_
	Shared pointer to nodehandle. More...

boost::shared_ptr< ros::NodeHandle >	pnh_
	Shared pointer to private nodehandle. More...

std::vector< ros::Publisher >	publishers_
	List of watching publishers. More...

ros::WallTimer	timer_ever_subscribed_
	WallTimer instance for warning about no connection. More...

bool	verbose_connection_
	true if `~verbose_connection` or `verbose_connection` parameter is true. More...

Detailed Description

Nodelet to automatically subscribe/unsubscribe topics according to subscription of advertised topics.

It's important not to subscribe topic if no output is required.

In order to watch advertised topics, need to use advertise template method. And create subscribers in subscribe() and shutdown them in unsubscribed().

Definition at line 102 of file nodelet_lazy.h.

Constructor & Destructor Documentation

◆ NodeletLazy()

nodelet_topic_tools::NodeletLazy::NodeletLazy ( )

inline

Definition at line 105 of file nodelet_lazy.h.

Member Function Documentation

◆ advertise()

template<class T >

ros::Publisher nodelet_topic_tools::NodeletLazy::advertise	(	ros::NodeHandle &	nh,
		std::string	topic,
		int	queue_size,
		bool	latch = `false`
	)

inlineprotected

Update the list of Publishers created by this method. It automatically reads latch boolean parameter from nh and publish topic with appropriate latch parameter.

Parameters

nh	NodeHandle.
topic	topic name to advertise.
queue_size	queue size for publisher.
latch	set true if latch topic publication.

Returns: Publisher for the advertised topic.

Definition at line 251 of file nodelet_lazy.h.

◆ connectionCallback()

virtual void nodelet_topic_tools::NodeletLazy::connectionCallback ( const ros::SingleSubscriberPublisher & pub )

inlineprotectedvirtual

callback function which is called when new subscriber come

Definition at line 170 of file nodelet_lazy.h.

◆ onInit()

virtual void nodelet_topic_tools::NodeletLazy::onInit ( )

inlineprotectedvirtual

Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method.

Implements nodelet::Nodelet.

Definition at line 112 of file nodelet_lazy.h.

◆ onInitPostProcess()

virtual void nodelet_topic_tools::NodeletLazy::onInitPostProcess ( )

inlineprotectedvirtual

Post processing of initialization of nodelet. You need to call this method in order to use always_subscribe feature.

Definition at line 157 of file nodelet_lazy.h.

◆ subscribe()

virtual void nodelet_topic_tools::NodeletLazy::subscribe ( )

protectedpure virtual

This method is called when publisher is subscribed by other nodes. Set up subscribers in this method.

◆ unsubscribe()

virtual void nodelet_topic_tools::NodeletLazy::unsubscribe ( )

protectedpure virtual

This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this method.

◆ warnNeverSubscribedCallback()

virtual void nodelet_topic_tools::NodeletLazy::warnNeverSubscribedCallback ( const ros::WallTimerEvent & event )

inlineprotectedvirtual

callback function which is called when walltimer duration run out.

Definition at line 216 of file nodelet_lazy.h.

Member Data Documentation

◆ connection_mutex_

boost::mutex nodelet_topic_tools::NodeletLazy::connection_mutex_

protected

mutex to call subscribe() and unsubscribe() in critical section.

Definition at line 272 of file nodelet_lazy.h.

◆ connection_status_

ConnectionStatus nodelet_topic_tools::NodeletLazy::connection_status_

protected

Status of connection.

Definition at line 309 of file nodelet_lazy.h.

◆ ever_subscribed_

bool nodelet_topic_tools::NodeletLazy::ever_subscribed_

protected

A flag to check if the node has been ever subscribed or not.

Definition at line 298 of file nodelet_lazy.h.

◆ lazy_

bool nodelet_topic_tools::NodeletLazy::lazy_

protected

A flag to disable watching mechanism and always subscribe input topics. It can be specified via ~lazy parameter.

Definition at line 304 of file nodelet_lazy.h.

◆ nh_

boost::shared_ptr<ros::NodeHandle> nodelet_topic_tools::NodeletLazy::nh_

protected

Shared pointer to nodehandle.

Definition at line 277 of file nodelet_lazy.h.

◆ pnh_

boost::shared_ptr<ros::NodeHandle> nodelet_topic_tools::NodeletLazy::pnh_

protected

Shared pointer to private nodehandle.

Definition at line 282 of file nodelet_lazy.h.

◆ publishers_

std::vector<ros::Publisher> nodelet_topic_tools::NodeletLazy::publishers_

protected

List of watching publishers.

Definition at line 287 of file nodelet_lazy.h.

◆ timer_ever_subscribed_

ros::WallTimer nodelet_topic_tools::NodeletLazy::timer_ever_subscribed_

protected

WallTimer instance for warning about no connection.

Definition at line 292 of file nodelet_lazy.h.

◆ verbose_connection_

bool nodelet_topic_tools::NodeletLazy::verbose_connection_

protected

true if ~verbose_connection or verbose_connection parameter is true.

Definition at line 314 of file nodelet_lazy.h.

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

nodelet_lazy.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ NodeletLazy()

Member Function Documentation

◆ advertise()

◆ connectionCallback()

◆ onInit()

◆ onInitPostProcess()

◆ subscribe()

◆ unsubscribe()

◆ warnNeverSubscribedCallback()

Member Data Documentation

◆ connection_mutex_

◆ connection_status_

◆ ever_subscribed_

◆ lazy_

◆ nh_

◆ pnh_

◆ publishers_

◆ timer_ever_subscribed_

◆ verbose_connection_