realtime_tools::RealtimePublisher< Msg > Class Template Reference

#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.
	RealtimePublisher ()
	RealtimePublisher (const ros::NodeHandle &node, const std::string &topic, int queue_size, bool latched=false)
	Constructor for the realtime publisher.
void	stop ()
	Stop the realtime publisher from sending out more ROS messages.
bool	trylock ()
	Try to get the data lock from realtime.
void	unlock ()
	Unlocks the data without publishing anything.
void	unlockAndPublish ()
	Unlock the msg_ variable.
	~RealtimePublisher ()
	Destructor.
Public Attributes
Msg	msg_
	The msg_ variable contains the data that will get published on the ROS topic.
Private Types
enum	{ REALTIME, NON_REALTIME }
Private Member Functions
void	construct (int queue_size, bool latched=false)
bool	is_running () const
void	publishingLoop ()
Private Attributes
volatile bool	is_running_
volatile bool	keep_running_
boost::mutex	msg_mutex_
ros::NodeHandle	node_
ros::Publisher	publisher_
boost::thread	thread_
std::string	topic_
int	turn_
boost::condition_variable	updated_cond_

Detailed Description

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

Definition at line 51 of file realtime_publisher.h.

Member Enumeration Documentation

template<class Msg >

anonymous enum [private]

Enumerator:

REALTIME
NON_REALTIME

Definition at line 207 of file realtime_publisher.h.

Constructor & Destructor Documentation

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 65 of file realtime_publisher.h.

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::RealtimePublisher ( ) [inline]

Definition at line 71 of file realtime_publisher.h.

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::~RealtimePublisher ( ) [inline]

Destructor.

Definition at line 77 of file realtime_publisher.h.

Member Function Documentation

template<class Msg >

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

Definition at line 158 of file realtime_publisher.h.

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 86 of file realtime_publisher.h.

template<class Msg >

bool realtime_tools::RealtimePublisher< Msg >::is_running ( ) const [inline, private]

Definition at line 166 of file realtime_publisher.h.

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 144 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::publishingLoop ( ) [inline, private]

Definition at line 168 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::stop ( ) [inline]

Stop the realtime publisher from sending out more ROS messages.

Definition at line 94 of file realtime_publisher.h.

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 107 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::unlock ( ) [inline]

Unlocks the data without publishing anything.

Definition at line 152 of file realtime_publisher.h.

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 131 of file realtime_publisher.h.