ros Namespace Reference

Namespaces
namespace	file_log
	internal
namespace	init_options
namespace	master
	Contains functions which allow you to query information about the master.
namespace	message_operations
namespace	message_traits
namespace	names
	Contains functions which allow you to manipulate ROS names.
namespace	network
	internal
namespace	param
	Contains functions which allow you to query the parameter server.
namespace	serialization
namespace	service
	Contains functions for querying information about and calling a service.
namespace	service_traits
namespace	this_node
	Contains functions which provide information about this process' ROS node.
namespace	topic
namespace	xmlrpc
	internal
Classes
struct	AdvertiseOptions
	Encapsulates all options available for creating a Publisher. More...
struct	AdvertiseServiceOptions
	Encapsulates all options available for creating a ServiceServer. More...
class	AsyncSpinner
	AsyncSpinner is a spinner that does not conform to the abstract Spinner interface. Instead, it spins asynchronously when you call start(), and stops when either you call stop(), ros::shutdown() is called, or its destructor is called. More...
class	AsyncSpinnerImpl
class	ASyncXMLRPCConnection
class	CachedXmlRpcClient
class	CallbackInterface
	Abstract interface for items which can be added to a CallbackQueueInterface. More...
class	CallbackQueue
	This is the default implementation of the ros::CallbackQueueInterface. More...
class	CallbackQueueInterface
	Abstract interface for a queue used to handle all callbacks within roscpp. More...
class	ConflictingSubscriptionException
	Thrown when a second (third,...) subscription is attempted with conflicting arguments. More...
class	Connection
	Encapsulates a connection to a remote host, independent of the transport type. More...
class	ConnectionManager
struct	DefaultMessageCreator
class	Header
	Provides functionality to parse a connection header and retrieve values from it. More...
class	IntraProcessPublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class	IntraProcessSubscriberLink
	SubscriberLink handles broadcasting messages to a single subscriber on a single topic. More...
class	InvalidNameException
	Thrown when an invalid graph resource name is specified to any roscpp function. More...
class	InvalidNodeNameException
	Thrown when an invalid node name is specified to ros::init(). More...
class	InvalidParameterException
	Thrown when an invalid parameter is passed to a method. More...
class	InvalidPortException
	Thrown when an invalid port is specified. More...
class	MessageDeserializer
class	MessageEvent
	Event type for subscriptions, const ros::MessageEvent<M const>& can be used in your callback instead of const boost::shared_ptr<M const>&. More...
class	MultiThreadedSpinner
	Spinner which spins in multiple threads. More...
class	NodeHandle
	roscpp's interface for creating subscribers, publishers, etc. More...
class	NodeHandleBackingCollection
struct	ParameterAdapter
	Generally not for outside use. Adapts a function parameter type into the message type, event type and parameter. Allows you to retrieve a parameter type from an event type. More...
struct	ParameterAdapter< boost::shared_ptr< M > >
struct	ParameterAdapter< boost::shared_ptr< M const > >
struct	ParameterAdapter< const boost::shared_ptr< M > & >
struct	ParameterAdapter< const boost::shared_ptr< M const > & >
struct	ParameterAdapter< const M & >
struct	ParameterAdapter< const ros::MessageEvent< M > & >
struct	ParameterAdapter< const ros::MessageEvent< M const > & >
class	PeerConnDisconnCallback
class	PollManager
class	PollSet
	Manages a set of sockets being polled through the poll() function call. More...
class	Publication
	A Publication manages an advertised topic. More...
class	Publisher
	Manages an advertisement on a specific topic. More...
class	PublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class	ROSOutAppender
class	ServiceCallback
class	ServiceCallbackHelper
	Abstract base class used by service servers to deal with concrete message types through a common interface. This is one part of the roscpp API that is not fully stable, so overloading this class is not recommended. More...
struct	ServiceCallbackHelperCallParams
class	ServiceCallbackHelperT
	Concrete generic implementation of ServiceCallbackHelper for any normal service type. More...
class	ServiceClient
	Provides a handle-based interface to service client connections. More...
class	ServiceClientLink
	Handles a connection to a single incoming service client. More...
struct	ServiceClientOptions
	Encapsulates all options available for creating a ServiceClient. More...
class	ServiceEvent
	Event type for services, ros::ServiceEvent<MReq, MRes>& can be used in your callback instead of MReq&, MRes&. More...
class	ServiceManager
class	ServicePublication
	Manages an advertised service. More...
class	ServiceServer
	Manages an service advertisement. More...
class	ServiceServerLink
	Handles a connection to a service. If it's a non-persistent client, automatically disconnects when its first service call has finished. More...
struct	ServiceSpec
struct	ServiceSpecCallParams
class	SingleSubscriberPublisher
	Allows publication of a message to a single subscriber. Only available inside subscriber connection callbacks. More...
class	SingleThreadedSpinner
	Spinner which runs in a single thread. More...
class	Spinner
	Abstract interface for classes which spin on a callback queue. More...
struct	SubscribeOptions
	Encapsulates all options available for creating a Subscriber. More...
class	Subscriber
	Manages an subscription callback on a specific topic. More...
struct	SubscriberCallbacks
class	SubscriberLink
class	Subscription
	Manages a subscription on a single topic. More...
class	SubscriptionCallbackHelper
	Abstract base class used by subscriptions to deal with concrete message types through a common interface. This is one part of the roscpp API that is not fully stable, so overloading this class is not recommended. More...
struct	SubscriptionCallbackHelperCallParams
struct	SubscriptionCallbackHelperDeserializeParams
class	SubscriptionCallbackHelperT
	Concrete generic implementation of SubscriptionCallbackHelper for any normal message type. Use directly with care, this is mostly for internal use. More...
class	SubscriptionQueue
class	Timer
	Manages a timer callback. More...
struct	TimerEvent
	Structure passed as a parameter to the callback invoked by a ros::Timer. More...
class	TimerManager
struct	TimerOptions
	Encapsulates all options available for starting a timer. More...
class	TopicManager
class	Transport
	Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory, UDP... More...
class	TransportHints
	Provides a way of specifying network transport hints to ros::NodeHandle::subscribe() and someday ros::NodeHandle::advertise(). More...
class	TransportPublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class	TransportSubscriberLink
	SubscriberLink handles broadcasting messages to a single subscriber on a single topic. More...
class	TransportTCP
	TCPROS transport. More...
class	TransportUDP
	UDPROS transport. More...
struct	TransportUDPHeader
class	WallTimer
	Manages a wall-clock timer callback. More...
struct	WallTimerEvent
	Structure passed as a parameter to the callback invoked by a ros::WallTimer. More...
struct	WallTimerOptions
	Encapsulates all options available for starting a timer. More...
class	XMLRPCCallWrapper
class	XMLRPCManager
Typedefs
typedef boost::shared_ptr < AsyncSpinnerImpl >	AsyncSpinnerImplPtr
typedef boost::shared_ptr < ASyncXMLRPCConnection >	ASyncXMLRPCConnectionPtr
typedef boost::shared_ptr < CallbackInterface >	CallbackInterfacePtr
typedef boost::shared_ptr < CallbackQueue >	CallbackQueuePtr
typedef boost::shared_ptr < ConnectionManager >	ConnectionManagerPtr
typedef boost::shared_ptr < Connection >	ConnectionPtr
typedef boost::function< bool(const ConnectionPtr &, const Header &)>	HeaderReceivedFunc
typedef init_options::InitOption	InitOption
typedef TimerManager< WallTime, WallDuration, WallTimerEvent >	InternalTimerManager
typedef boost::shared_ptr < InternalTimerManager >	InternalTimerManagerPtr
typedef boost::shared_ptr < IntraProcessPublisherLink >	IntraProcessPublisherLinkPtr
typedef boost::shared_ptr < IntraProcessSubscriberLink >	IntraProcessSubscriberLinkPtr
typedef std::list < ServicePublicationPtr >	L_ServicePublication
typedef std::list < ServiceServerLinkPtr >	L_ServiceServerLink
typedef std::list < SubscriptionPtr >	L_Subscription
typedef std::map< std::string, std::string >	M_string
typedef boost::shared_ptr < M_string >	M_stringPtr
typedef boost::shared_ptr < MessageDeserializer >	MessageDeserializerPtr
typedef boost::shared_ptr < NodeHandle >	NodeHandlePtr
typedef boost::shared_ptr < PollManager >	PollManagerPtr
typedef boost::shared_ptr < Publication >	PublicationPtr
typedef boost::weak_ptr < Publication >	PublicationWPtr
typedef boost::shared_ptr < PublisherLink >	PublisherLinkPtr
typedef boost::function< void(const ConnectionPtr &, const boost::shared_array< uint8_t > &, uint32_t, bool)>	ReadFinishedFunc
typedef log4cxx::helpers::ObjectPtrT < ROSOutAppender >	ROSOutAppenderPtr
typedef std::set < ASyncXMLRPCConnectionPtr >	S_ASyncXMLRPCConnection
typedef std::set< ConnectionPtr >	S_Connection
typedef std::set< std::string >	S_string
typedef std::set< SubscriptionPtr >	S_Subscription
typedef boost::shared_ptr < ServiceCallbackHelper >	ServiceCallbackHelperPtr
typedef boost::shared_ptr < ServiceClientLink >	ServiceClientLinkPtr
typedef boost::shared_ptr < ServiceClient >	ServiceClientPtr
typedef boost::shared_ptr < ServiceManager >	ServiceManagerPtr
typedef boost::shared_ptr < ServicePublication >	ServicePublicationPtr
typedef boost::weak_ptr < ServicePublication >	ServicePublicationWPtr
typedef boost::shared_ptr < ServiceServerLink >	ServiceServerLinkPtr
typedef int	signal_fd_t
typedef int	socket_fd_t
typedef struct pollfd	socket_pollfd
typedef std::pair< std::string, std::string >	StringPair
typedef boost::shared_ptr < SubscriberCallbacks >	SubscriberCallbacksPtr
typedef boost::shared_ptr < SubscriberLink >	SubscriberLinkPtr
typedef boost::function< void(const SingleSubscriberPublisher &)>	SubscriberStatusCallback
typedef boost::shared_ptr < SubscriptionCallbackHelper >	SubscriptionCallbackHelperPtr
typedef boost::shared_ptr < SubscriptionCallback >	SubscriptionCallbackPtr
typedef boost::shared_ptr < Subscription >	SubscriptionPtr
typedef boost::shared_ptr < SubscriptionQueue >	SubscriptionQueuePtr
typedef boost::weak_ptr < Subscription >	SubscriptionWPtr
typedef boost::function< void(const TimerEvent &)>	TimerCallback
typedef boost::shared_ptr < TopicManager >	TopicManagerPtr
typedef boost::shared_ptr < Transport >	TransportPtr
typedef boost::shared_ptr < TransportPublisherLink >	TransportPublisherLinkPtr
typedef boost::shared_ptr < TransportSubscriberLink >	TransportSubscriberLinkPtr
typedef boost::shared_ptr < TransportTCP >	TransportTCPPtr
typedef struct ros::TransportUDPHeader	TransportUDPHeader
typedef boost::shared_ptr < TransportUDP >	TransportUDPPtr
typedef std::vector < ConnectionPtr >	V_Connection
typedef std::vector < PublicationPtr >	V_Publication
typedef std::vector< Publisher >	V_Publisher
typedef std::vector < PublisherLinkPtr >	V_PublisherLink
typedef std::vector < ServiceClientLinkPtr >	V_ServiceClientLink
typedef std::vector < ServicePublicationPtr >	V_ServicePublication
typedef std::vector < ServiceServer >	V_ServiceServer
typedef std::vector< std::string >	V_string
typedef std::vector< Subscriber >	V_Subscriber
typedef std::vector < SubscriberLinkPtr >	V_SubscriberLink
typedef std::vector < SubscriptionPtr >	V_Subscription
typedef boost::shared_ptr < void const >	VoidConstPtr
typedef boost::weak_ptr< void const >	VoidConstWPtr
typedef boost::function< void(void)>	VoidFunc
typedef boost::shared_ptr< void >	VoidPtr
typedef boost::signal< void(void)>	VoidSignal
typedef boost::weak_ptr< void >	VoidWPtr
typedef std::vector< std::pair < std::string, std::string > >	VP_string
typedef boost::function< void(const WallTimerEvent &)>	WallTimerCallback
typedef boost::function< void(const ConnectionPtr &)>	WriteFinishedFunc
typedef boost::shared_ptr < XMLRPCCallWrapper >	XMLRPCCallWrapperPtr
typedef boost::function< void(XmlRpc::XmlRpcValue &, XmlRpc::XmlRpcValue &)>	XMLRPCFunc
typedef boost::shared_ptr < XMLRPCManager >	XMLRPCManagerPtr
Functions
template<typename T >
void	assignServiceConnectionHeader (T , const boost::shared_ptr< M_string > &, typename boost::disable_if< ros::message_traits::IsMessage< T > >::type _=0)
template<typename T >
void	assignServiceConnectionHeader (T t, const boost::shared_ptr< M_string > &connection_header, typename boost::enable_if< ros::message_traits::IsMessage< T > >::type _=0)
template<typename T >
void	assignSubscriptionConnectionHeader (T t, const boost::shared_ptr< M_string > &connection_header, typename boost::disable_if< ros::message_traits::IsMessage< T > >::type _=0)
template<typename T >
void	assignSubscriptionConnectionHeader (T t, const boost::shared_ptr< M_string > &connection_header, typename boost::enable_if< ros::message_traits::IsMessage< T > >::type _=0)
void	atexitCallback ()
void	basicSigintHandler (int sig)
void	checkForShutdown ()
void	clockCallback (const rosgraph_msgs::Clock::ConstPtr &msg)
void	close_signal_pair (signal_fd_t signal_pair[2])
ROSCPP_DECL int	close_socket (socket_fd_t &socket)
	Close the socket.
bool	closeAllConnections (roscpp::Empty::Request &, roscpp::Empty::Response &)
void	closeTransport (const TransportUDPPtr &trans)
ROSCPP_DECL int	create_signal_pair (signal_fd_t signal_pair[2])
template<typename M >
ROS_DEPRECATED boost::shared_ptr< M >	defaultMessageCreateFunction ()
template<typename M >
boost::shared_ptr< M >	defaultServiceCreateFunction ()
void	disableAllSignalsInThisThread ()
ROSCPP_DECL CallbackQueue *	getGlobalCallbackQueue ()
	Returns a pointer to the global default callback queue.
CallbackQueuePtr	getInternalCallbackQueue ()
ROSCPP_DECL InternalTimerManagerPtr	getInternalTimerManager ()
bool	getLoggers (roscpp::GetLoggers::Request &, roscpp::GetLoggers::Response &resp)
void	getPid (const XmlRpcValue &params, XmlRpcValue &result)
ROSCPP_DECL void	init (const VP_string &remapping_args, const std::string &name, uint32_t options=0)
	alternate ROS initialization function.
ROSCPP_DECL void	init (const M_string &remappings, const std::string &name, uint32_t options=0)
	alternate ROS initialization function.
ROSCPP_DECL void	init (int &argc, char **argv, const std::string &name, uint32_t options=0)
	ROS initialization function.
ROSCPP_DECL void	initInternalTimerManager ()
void	internalCallbackQueueThreadFunc ()
ROSCPP_DECL bool	isInitialized ()
	Returns whether or not ros::init() has been called.
ROSCPP_DECL bool	isShuttingDown ()
	Returns whether or not ros::shutdown() has been (or is being) called.
ROSCPP_DECL bool	isStarted ()
	Returns whether or not the node has been started through ros::start().
ROSCPP_DECL int	last_socket_error ()
ROSCPP_DECL bool	last_socket_error_is_would_block ()
ROSCPP_DECL const char *	last_socket_error_string ()
bool	md5sumsMatch (const std::string &lhs, const std::string &rhs)
ROSCPP_DECL bool	ok ()
	Check whether it's time to exit.
ROSCPP_DECL int	poll_sockets (socket_pollfd *fds, nfds_t nfds, int timeout)
	A cross platform polling function for sockets.
ssize_t	read_signal (const signal_fd_t &signal, void *buffer, const size_t &nbyte)
ROSCPP_DECL void	removeROSArgs (int argc, const char const argv, V_string &args_out)
	returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name
ROSCPP_DECL void	requestShutdown ()
	Request that the node shut itself down from within a ROS thread.
ROSCPP_DECL int	set_non_blocking (socket_fd_t &socket)
bool	setLoggerLevel (roscpp::SetLoggerLevel::Request &req, roscpp::SetLoggerLevel::Response &)
ROSCPP_DECL void	shutdown ()
	Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that.
void	shutdownCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
ROSCPP_DECL void	spin (Spinner &spinner)
	Enter simple event loop.
ROSCPP_DECL void	spin ()
	Enter simple event loop.
ROSCPP_DECL void	spinOnce ()
	Process a single round of callbacks.
void	spinThread ()
ROSCPP_DECL void	start ()
	Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.).
bool	urisEqual (const std::string &uri1, const std::string &uri2)
ROSCPP_DECL void	waitForShutdown ()
	Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.
ssize_t	write_signal (const signal_fd_t &signal, const void *buffer, const size_t &nbyte)
Variables
static bool	g_atexit_registered = false
ConnectionManagerPtr	g_connection_manager
boost::mutex	g_connection_manager_mutex
CallbackQueuePtr	g_global_queue
static uint32_t	g_init_options = 0
static bool	g_initialized = false
static CallbackQueuePtr	g_internal_callback_queue
static boost::thread	g_internal_queue_thread
int32_t	g_nh_refcount = 0
boost::mutex	g_nh_refcount_mutex
bool	g_node_started_by_nh = false
static bool	g_ok = false
PollManagerPtr	g_poll_manager
boost::mutex	g_poll_manager_mutex
ROSOutAppenderPtr	g_rosout_appender
ServiceManagerPtr	g_service_manager
boost::mutex	g_service_manager_mutex
static bool	g_shutdown_requested = false
static volatile bool	g_shutting_down = false
static boost::recursive_mutex	g_shutting_down_mutex
static boost::mutex	g_start_mutex
static bool	g_started = false
static InternalTimerManagerPtr	g_timer_manager
TopicManagerPtr	g_topic_manager
boost::mutex	g_topic_manager_mutex
XMLRPCManagerPtr	g_xmlrpc_manager
boost::mutex	g_xmlrpc_manager_mutex

Detailed Description

Todo:: Locking can be significantly simplified here once the Node API goes away.

Typedef Documentation

typedef boost::shared_ptr<AsyncSpinnerImpl> ros::AsyncSpinnerImplPtr

Definition at line 82 of file spinner.h.

typedef boost::shared_ptr<ASyncXMLRPCConnection> ros::ASyncXMLRPCConnectionPtr

Definition at line 70 of file xmlrpc_manager.h.

typedef boost::shared_ptr< CallbackInterface > ros::CallbackInterfacePtr

Definition at line 74 of file callback_queue_interface.h.

typedef boost::shared_ptr<CallbackQueue> ros::CallbackQueuePtr

Definition at line 172 of file callback_queue.h.

typedef boost::shared_ptr< ConnectionManager > ros::ConnectionManagerPtr

Definition at line 35 of file connection_manager.h.

typedef boost::shared_ptr< Connection > ros::ConnectionPtr

Definition at line 56 of file connection.h.

typedef boost::function<bool(const ConnectionPtr&, const Header&)> ros::HeaderReceivedFunc

Definition at line 61 of file connection.h.

typedef init_options::InitOption ros::InitOption

Definition at line 63 of file init.h.

typedef TimerManager<WallTime, WallDuration, WallTimerEvent> ros::InternalTimerManager

Definition at line 38 of file internal_timer_manager.h.

typedef boost::shared_ptr<InternalTimerManager> ros::InternalTimerManagerPtr

Definition at line 40 of file internal_timer_manager.h.

typedef boost::shared_ptr< IntraProcessPublisherLink > ros::IntraProcessPublisherLinkPtr

Definition at line 67 of file intraprocess_publisher_link.h.

typedef boost::shared_ptr< IntraProcessSubscriberLink > ros::IntraProcessSubscriberLinkPtr

Definition at line 37 of file intraprocess_publisher_link.h.

typedef std::list<ServicePublicationPtr> ros::L_ServicePublication

Definition at line 81 of file forwards.h.

typedef std::list<ServiceServerLinkPtr> ros::L_ServiceServerLink

Definition at line 85 of file forwards.h.

typedef std::list<SubscriptionPtr> ros::L_Subscription

Definition at line 73 of file forwards.h.

typedef std::map< std::string, std::string > ros::M_string

Definition at line 94 of file forwards.h.

typedef boost::shared_ptr<M_string> ros::M_stringPtr

Definition at line 50 of file header.h.

typedef boost::shared_ptr< MessageDeserializer > ros::MessageDeserializerPtr

Definition at line 61 of file message_deserializer.h.

typedef boost::shared_ptr<NodeHandle> ros::NodeHandlePtr

Definition at line 88 of file forwards.h.

typedef boost::shared_ptr< PollManager > ros::PollManagerPtr

Definition at line 32 of file connection_manager.h.

typedef boost::shared_ptr< Publication > ros::PublicationPtr

Definition at line 64 of file forwards.h.

typedef boost::weak_ptr< Publication > ros::PublicationWPtr

Definition at line 58 of file rosout_appender.h.

typedef boost::shared_ptr< PublisherLink > ros::PublisherLinkPtr

Definition at line 76 of file forwards.h.

typedef boost::function<void(const ConnectionPtr&, const boost::shared_array<uint8_t>&, uint32_t, bool)> ros::ReadFinishedFunc

Definition at line 58 of file connection.h.

typedef log4cxx::helpers::ObjectPtrT<ROSOutAppender> ros::ROSOutAppenderPtr

Definition at line 88 of file rosout_appender.h.

typedef std::set<ASyncXMLRPCConnectionPtr> ros::S_ASyncXMLRPCConnection

Definition at line 71 of file xmlrpc_manager.h.

typedef std::set<ConnectionPtr> ros::S_Connection

Definition at line 62 of file forwards.h.

typedef std::set<std::string> ros::S_string

Definition at line 93 of file forwards.h.

typedef std::set<SubscriptionPtr> ros::S_Subscription

Definition at line 75 of file forwards.h.

typedef boost::shared_ptr<ServiceCallbackHelper> ros::ServiceCallbackHelperPtr

Definition at line 157 of file service_callback_helper.h.

typedef boost::shared_ptr< ServiceClientLink > ros::ServiceClientLinkPtr

Definition at line 84 of file service_client_link.h.

typedef boost::shared_ptr<ServiceClient> ros::ServiceClientPtr

Definition at line 206 of file service_client.h.

typedef boost::shared_ptr< ServiceManager > ros::ServiceManagerPtr

Definition at line 167 of file forwards.h.

typedef boost::shared_ptr< ServicePublication > ros::ServicePublicationPtr

Definition at line 79 of file forwards.h.

typedef boost::weak_ptr<ServicePublication> ros::ServicePublicationWPtr

Definition at line 43 of file service_client_link.h.

typedef boost::shared_ptr< ServiceServerLink > ros::ServiceServerLinkPtr

Definition at line 83 of file forwards.h.

typedef int ros::signal_fd_t

Definition at line 138 of file io.h.

typedef int ros::socket_fd_t

Definition at line 137 of file io.h.

typedef struct pollfd ros::socket_pollfd

Definition at line 139 of file io.h.

typedef std::pair<std::string, std::string> ros::StringPair

Definition at line 95 of file forwards.h.

typedef boost::shared_ptr<SubscriberCallbacks> ros::SubscriberCallbacksPtr

Definition at line 129 of file forwards.h.

typedef boost::shared_ptr< SubscriberLink > ros::SubscriberLinkPtr

Definition at line 67 of file forwards.h.

typedef boost::function<void(const SingleSubscriberPublisher&)> ros::SubscriberStatusCallback

Definition at line 97 of file forwards.h.

typedef boost::shared_ptr< SubscriptionCallbackHelper > ros::SubscriptionCallbackHelperPtr

Definition at line 42 of file message_deserializer.h.

typedef boost::shared_ptr<SubscriptionCallback> ros::SubscriptionCallbackPtr

Definition at line 42 of file subscription.h.

typedef boost::shared_ptr< Subscription > ros::SubscriptionPtr

Definition at line 70 of file forwards.h.

typedef boost::shared_ptr<SubscriptionQueue> ros::SubscriptionQueuePtr

Definition at line 45 of file subscription.h.

typedef boost::weak_ptr< Subscription > ros::SubscriptionWPtr

Definition at line 72 of file forwards.h.

typedef boost::function<void(const TimerEvent&)> ros::TimerCallback

Definition at line 147 of file forwards.h.

typedef boost::shared_ptr< TopicManager > ros::TopicManagerPtr

Definition at line 169 of file forwards.h.

typedef boost::shared_ptr< Transport > ros::TransportPtr

Definition at line 54 of file connection.h.

typedef boost::shared_ptr<TransportPublisherLink> ros::TransportPublisherLinkPtr

Definition at line 88 of file transport_publisher_link.h.

typedef boost::shared_ptr<TransportSubscriberLink> ros::TransportSubscriberLinkPtr

Definition at line 74 of file transport_subscriber_link.h.

typedef boost::shared_ptr< TransportTCP > ros::TransportTCPPtr

Definition at line 56 of file forwards.h.

typedef struct ros::TransportUDPHeader ros::TransportUDPHeader

typedef boost::shared_ptr< TransportUDP > ros::TransportUDPPtr

Definition at line 58 of file forwards.h.

typedef std::vector<ConnectionPtr> ros::V_Connection

Definition at line 63 of file forwards.h.

typedef std::vector<PublicationPtr> ros::V_Publication

Definition at line 66 of file forwards.h.

typedef std::vector<Publisher> ros::V_Publisher

Definition at line 199 of file publisher.h.

typedef std::vector<PublisherLinkPtr> ros::V_PublisherLink

Definition at line 78 of file forwards.h.

typedef std::vector<ServiceClientLinkPtr> ros::V_ServiceClientLink

Definition at line 50 of file service_publication.h.

typedef std::vector<ServicePublicationPtr> ros::V_ServicePublication

Definition at line 82 of file forwards.h.

typedef std::vector<ServiceServer> ros::V_ServiceServer

Definition at line 106 of file service_server.h.

typedef std::vector<std::string> ros::V_string

Definition at line 92 of file forwards.h.

typedef std::vector<Subscriber> ros::V_Subscriber

Definition at line 115 of file subscriber.h.

typedef std::vector< SubscriberLinkPtr > ros::V_SubscriberLink

Definition at line 69 of file forwards.h.

typedef std::vector<SubscriptionPtr> ros::V_Subscription

Definition at line 74 of file forwards.h.

typedef boost::shared_ptr<void const> ros::VoidConstPtr

Definition at line 50 of file forwards.h.

typedef boost::weak_ptr<void const> ros::VoidConstWPtr

Definition at line 51 of file forwards.h.

typedef boost::function<void(void)> ros::VoidFunc

Definition at line 38 of file poll_manager.h.

typedef boost::shared_ptr<void> ros::VoidPtr

Definition at line 48 of file forwards.h.

typedef boost::signal<void(void)> ros::VoidSignal

Definition at line 37 of file poll_manager.h.

typedef boost::weak_ptr<void> ros::VoidWPtr

Definition at line 49 of file forwards.h.

typedef std::vector<std::pair<std::string, std::string> > ros::VP_string

Definition at line 91 of file forwards.h.

typedef boost::function<void(const WallTimerEvent&)> ros::WallTimerCallback

Definition at line 165 of file forwards.h.

typedef boost::function<void(const ConnectionPtr&)> ros::WriteFinishedFunc

Definition at line 59 of file connection.h.

typedef boost::shared_ptr<XMLRPCCallWrapper> ros::XMLRPCCallWrapperPtr

Definition at line 57 of file xmlrpc_manager.h.

typedef boost::function<void(XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue&)> ros::XMLRPCFunc

Definition at line 92 of file xmlrpc_manager.h.

typedef boost::shared_ptr< XMLRPCManager > ros::XMLRPCManagerPtr

Definition at line 173 of file forwards.h.

Function Documentation

template<typename T >

void ros::assignServiceConnectionHeader	(	T *	,
		const boost::shared_ptr< M_string > &	,
		typename boost::disable_if< ros::message_traits::IsMessage< T > >::type *	_ = `0`
	)			`[inline]`

Definition at line 61 of file service_callback_helper.h.

template<typename T >

void ros::assignServiceConnectionHeader	(	T *	t,
		const boost::shared_ptr< M_string > &	connection_header,
		typename boost::enable_if< ros::message_traits::IsMessage< T > >::type *	_ = `0`
	)			`[inline]`

Definition at line 52 of file service_callback_helper.h.

template<typename T >

void ros::assignSubscriptionConnectionHeader	(	T *	t,
		const boost::shared_ptr< M_string > &	connection_header,
		typename boost::disable_if< ros::message_traits::IsMessage< T > >::type *	_ = `0`
	)			`[inline]`

Definition at line 86 of file subscription_callback_helper.h.

template<typename T >

void ros::assignSubscriptionConnectionHeader	(	T *	t,
		const boost::shared_ptr< M_string > &	connection_header,
		typename boost::enable_if< ros::message_traits::IsMessage< T > >::type *	_ = `0`
	)			`[inline]`

Definition at line 77 of file subscription_callback_helper.h.

void ros::atexitCallback ( )

Definition at line 137 of file init.cpp.

void ros::basicSigintHandler ( int sig )

Definition at line 254 of file init.cpp.

void ros::checkForShutdown ( )

Definition at line 111 of file init.cpp.

void ros::clockCallback ( const rosgraph_msgs::Clock::ConstPtr & msg )

Definition at line 239 of file init.cpp.

void ros::close_signal_pair ( signal_fd_t signal_pair[2] ) [inline]

Closes the signal pair - on windows we're using sockets (because windows select() function cant handle pipes). On linux, we're just using the pipes.

Parameters:

signal_pair

: the signal pair type.

Definition at line 163 of file io.h.

int ros::close_socket ( socket_fd_t & socket )

Close the socket.

Returns:: int : 0 on success, -1 on failure.

Definition at line 258 of file io.cpp.

bool ros::closeAllConnections	(	roscpp::Empty::Request &	,
		roscpp::Empty::Response &
	)

Definition at line 232 of file init.cpp.

void ros::closeTransport ( const TransportUDPPtr & trans )

Definition at line 435 of file subscription.cpp.

int ros::create_signal_pair ( signal_fd_t signal_pair[2] )

This code is primarily from the msdn socket tutorials.

Parameters:

signal_pair

: a pair of sockets linked to each other over localhost.

Returns:: 0 on success, -1 on failure.

Definition at line 282 of file io.cpp.

template<typename M >

ROS_DEPRECATED boost::shared_ptr<M> ros::defaultMessageCreateFunction ( ) [inline]

Definition at line 59 of file message_event.h.

template<typename M >

boost::shared_ptr<M> ros::defaultServiceCreateFunction ( ) [inline]

Definition at line 68 of file service_callback_helper.h.

void ros::disableAllSignalsInThisThread ( )

Definition at line 49 of file common.cpp.

CallbackQueue * ros::getGlobalCallbackQueue ( )

Returns a pointer to the global default callback queue.

This is the queue that all callbacks get added to unless a different one is specified, either in the NodeHandle or in the individual NodeHandle::subscribe()/NodeHandleadvertise()/etc. functions.

Definition at line 517 of file init.cpp.

CallbackQueuePtr ros::getInternalCallbackQueue ( )

InternalTimerManagerPtr ros::getInternalTimerManager ( )

Definition at line 34 of file internal_timer_manager.cpp.

bool ros::getLoggers	(	roscpp::GetLoggers::Request &	,
		roscpp::GetLoggers::Response &	resp
	)

Definition at line 162 of file init.cpp.

void ros::getPid	(	const XmlRpcValue &	params,
		XmlRpcValue &	result
	)

Definition at line 90 of file xmlrpc_manager.cpp.

void ros::init	(	const VP_string &	remapping_args,
		const std::string &	name,
		uint32_t	options = `0`
	)

alternate ROS initialization function.

Parameters:

	remappings	A vector<pair<string, string> > where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
	name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
	options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions:

InvalidNodeNameException

If the name passed in is not a valid "base" name

Definition at line 467 of file init.cpp.

void ros::init	(	const M_string &	remappings,
		const std::string &	name,
		uint32_t	options = `0`
	)

alternate ROS initialization function.

Parameters:

	remappings	A map<string, string> where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
	name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
	options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions:

InvalidNodeNameException

If the name passed in is not a valid "base" name

Definition at line 399 of file init.cpp.

void ros::init	(	int &	argc,
		char **	argv,
		const std::string &	name,
		uint32_t	options = `0`
	)

ROS initialization function.

This function will parse any ROS arguments (e.g., topic name remappings), and will consume them (i.e., argc and argv may be modified as a result of this call).

Use this version if you are using the NodeHandle API

Parameters:

	argc
	argv
	name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
	options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions:

InvalidNodeNameException

If the name passed in is not a valid "base" name

Definition at line 433 of file init.cpp.

void ros::initInternalTimerManager ( )

Definition at line 39 of file internal_timer_manager.cpp.

void ros::internalCallbackQueueThreadFunc ( )

Definition at line 259 of file init.cpp.

bool ros::isInitialized ( )

Returns whether or not ros::init() has been called.

Definition at line 101 of file init.cpp.

bool ros::isShuttingDown ( )

Returns whether or not ros::shutdown() has been (or is being) called.

Definition at line 106 of file init.cpp.

bool ros::isStarted ( )

Returns whether or not the node has been started through ros::start().

Definition at line 271 of file init.cpp.

int ros::last_socket_error ( )

Definition at line 55 of file io.cpp.

bool ros::last_socket_error_is_would_block ( )

Definition at line 74 of file io.cpp.

const char * ros::last_socket_error_string ( )

Definition at line 62 of file io.cpp.

bool ros::md5sumsMatch	(	const std::string &	lhs,
		const std::string &	rhs
	)

Definition at line 199 of file topic_manager.cpp.

bool ros::ok ( )

Check whether it's time to exit.

ok() becomes false once ros::shutdown() has been called and is finished

Returns:: true if we're still OK, false if it's time to exit

Definition at line 522 of file init.cpp.

int ros::poll_sockets	(	socket_pollfd *	fds,
		nfds_t	nfds,
		int	timeout
	)

A cross platform polling function for sockets.

Windows doesn't have a polling function until Vista (WSAPoll) and even then its implementation is not supposed to be great. This works for a broader range of platforms and will suffice.

Parameters:

	fds	- the socket set (descriptor's and events) to poll for.
	nfds	- the number of descriptors to poll for.
	timeout	- timeout in milliseconds.

Returns:: int : -1 on error, 0 on timeout, +ve number of structures with received events.

Definition at line 104 of file io.cpp.

ssize_t ros::read_signal	(	const signal_fd_t &	signal,
		void *	buffer,
		const size_t &	nbyte
	)			`[inline]`

Read from a signal_fd_t device. On windows we're using sockets (because windows select() function cant handle pipes) so we have to use socket functions. On linux, we're just using the pipes.

Definition at line 201 of file io.h.

void ros::removeROSArgs	(	int	argc,
		const char const	argv,
		V_string &	args_out
	)

returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name

Parameters:

	argc	the number of command-line arguments
	argv	the command-line arguments
`[out]`	args_out	Output args, stripped of any ROS args

Definition at line 480 of file init.cpp.

void ros::requestShutdown ( )

Request that the node shut itself down from within a ROS thread.

This method signals a ROS thread to call shutdown().

Definition at line 132 of file init.cpp.

int ros::set_non_blocking ( socket_fd_t & socket )

Sets the socket as non blocking.

Returns:: int : 0 on success, WSAGetLastError()/errno on failure.

Definition at line 237 of file io.cpp.

bool ros::setLoggerLevel	(	roscpp::SetLoggerLevel::Request &	req,
		roscpp::SetLoggerLevel::Response &
	)

Definition at line 194 of file init.cpp.

void ros::shutdown ( )

Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that.

Definition at line 527 of file init.cpp.

void ros::shutdownCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

Definition at line 146 of file init.cpp.

void ros::spin ( Spinner & spinner )

Enter simple event loop.

This method enters a loop, processing callbacks. This method should only be used if the NodeHandle API is being used.

This method is mostly useful when your node does all of its work in subscription callbacks. It will not process any callbacks that have been assigned to custom queues.

Parameters:

spinner

a spinner to use to call callbacks. Two default implementations are available, SingleThreadedSpinner and MultiThreadedSpinner

Definition at line 499 of file init.cpp.

void ros::spin ( )

Enter simple event loop.

This method enters a loop, processing callbacks. This method should only be used if the NodeHandle API is being used.

This method is mostly useful when your node does all of its work in subscription callbacks. It will not process any callbacks that have been assigned to custom queues.

Definition at line 493 of file init.cpp.

void ros::spinOnce ( )

Process a single round of callbacks.

This method is useful if you have your own loop running and would like to process any callbacks that are available. This is equivalent to calling callAvailable() on the global CallbackQueue. It will not process any callbacks that have been assigned to custom queues.

Definition at line 504 of file init.cpp.

void ros::spinThread ( )

Definition at line 141 of file node_handle.cpp.

void ros::start ( )

Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.).

Usually unnecessary to call manually, as it is automatically called by the creation of the first NodeHandle if the node has not already been started. If you would like to prevent the automatic shutdown caused by the last NodeHandle going out of scope, call this before any NodeHandle has been created (e.g. immediately after init())

Definition at line 276 of file init.cpp.

bool ros::urisEqual	(	const std::string &	uri1,
		const std::string &	uri2
	)

Definition at line 198 of file subscription.cpp.

void ros::waitForShutdown ( )

Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.

Definition at line 509 of file init.cpp.

ssize_t ros::write_signal	(	const signal_fd_t &	signal,
		const void *	buffer,
		const size_t &	nbyte
	)			`[inline]`

Write to a signal_fd_t device. On windows we're using sockets (because windows select() function cant handle pipes) so we have to use socket functions. On linux, we're just using the pipes.

Definition at line 184 of file io.h.