ros_integration::RosPubChannelElement< T > Class Template Reference

#include <ros_msg_transporter.hpp>

Inheritance diagram for ros_integration::RosPubChannelElement< T >:

List of all members.

Public Member Functions
virtual bool	data_sample (typename base::ChannelElement< T >::param_t sample)
virtual bool	inputReady ()
void	publish ()
	RosPubChannelElement (base::PortInterface *port, const ConnPolicy &policy)
bool	signal ()
bool	write (typename base::ChannelElement< T >::param_t sample)
	~RosPubChannelElement ()
Private Attributes
RosPublishActivity::shared_ptr	act
	We must cache the RosPublishActivity object.
char	hostname [1024]
ros::NodeHandle	ros_node
ros::Publisher	ros_pub
base::ChannelElement< T >::value_t	sample
std::string	topicname

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Detailed Description

template<typename T>
class ros_integration::RosPubChannelElement< T >

A ChannelElement implementation to publish data over a ros topic

Definition at line 70 of file ros_msg_transporter.hpp.

---

Constructor & Destructor Documentation

template<typename T >

ros_integration::RosPubChannelElement< T >::RosPubChannelElement	(	base::PortInterface *	port,
		const ConnPolicy &	policy
	)		[inline]

Contructor of to create ROS publisher ChannelElement, it will create a topic from the name given by the policy.name_id, if this is empty a default is created as hostname/componentname/portname/pid

Parameters:

port	port for which we will create a the ROS publisher
policy	connection policy containing the topic name and buffer size

Returns:

ChannelElement that will publish data to topics

Definition at line 93 of file ros_msg_transporter.hpp.

template<typename T >

ros_integration::RosPubChannelElement< T >::~RosPubChannelElement

(

)

[inline]

Definition at line 121 of file ros_msg_transporter.hpp.

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Member Function Documentation

template<typename T >

virtual bool ros_integration::RosPubChannelElement< T >::data_sample

(

typename base::ChannelElement< T >::param_t

sample

)

[inline, virtual]

Create a data sample, this could be used to allocate the necessary memory

Parameters:

sample

Returns:

always true

Definition at line 143 of file ros_msg_transporter.hpp.

template<typename T >

virtual bool ros_integration::RosPubChannelElement< T >::inputReady

(

)

[inline, virtual]

Function to see if the ChannelElement is ready to receive inputs

Returns:

always true in our case

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 132 of file ros_msg_transporter.hpp.

template<typename T >

void ros_integration::RosPubChannelElement< T >::publish

(

)

[inline, virtual]

Publish all data in the channel to a ROS topic.

Implements ros_integration::RosPublisher.

Definition at line 160 of file ros_msg_transporter.hpp.

template<typename T >

bool ros_integration::RosPubChannelElement< T >::signal

(

)

[inline, virtual]

signal from the port that new data is availabe to publish

Returns:

true if publishing succeeded

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 154 of file ros_msg_transporter.hpp.

template<typename T >

bool ros_integration::RosPubChannelElement< T >::write

(

typename base::ChannelElement< T >::param_t

sample

)

[inline]

Definition at line 167 of file ros_msg_transporter.hpp.

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Member Data Documentation

template<typename T >

RosPublishActivity::shared_ptr ros_integration::RosPubChannelElement< T >::act [private]

We must cache the RosPublishActivity object.

Definition at line 77 of file ros_msg_transporter.hpp.

template<typename T >

char ros_integration::RosPubChannelElement< T >::hostname[1024] [private]

Definition at line 72 of file ros_msg_transporter.hpp.

template<typename T >

ros::NodeHandle ros_integration::RosPubChannelElement< T >::ros_node [private]

Definition at line 74 of file ros_msg_transporter.hpp.

template<typename T >

ros::Publisher ros_integration::RosPubChannelElement< T >::ros_pub [private]

Definition at line 75 of file ros_msg_transporter.hpp.

template<typename T >

base::ChannelElement<T>::value_t ros_integration::RosPubChannelElement< T >::sample [private]

Definition at line 79 of file ros_msg_transporter.hpp.

template<typename T >

std::string ros_integration::RosPubChannelElement< T >::topicname [private]

Definition at line 73 of file ros_msg_transporter.hpp.

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

• ros_msg_transporter.hpp