Class TopicBridgeOptions
Defined in File topic_bridge_options.hpp
Class Documentation
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class TopicBridgeOptions
Options for bridged topics.
Public Types
Public Functions
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TopicBridgeOptions() = default
Constructor.
Default values:
callback_group = nullptr (node’s default)
qos_options = default (see QosOptions for more information)
remap_name = “” (no remap)
bidirectional = false (one-way)
reversed = false
wait_for_subscription = false
wait_for_publisher = true
auto_remove = AutoRemove::Disabled
delay = 0 (no extra delay to wait for publishers before creating bridge)
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std::shared_ptr<rclcpp::CallbackGroup> callback_group() const
Get callback group associated with the topics pub/sub pair.
Set the callback group associated with the topics pub/sub pair.
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QosOptions qos_options() const
Get QoS options.
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TopicBridgeOptions &qos_options(const QosOptions &qos_options)
Set QoS options.
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const std::string &remap_name() const
Get remap name.
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TopicBridgeOptions &remap_name(const std::string &remap_name)
Set remap name.
An empty string implies no remap.
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const bool &bidirectional() const
Get bidirectional option.
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TopicBridgeOptions &bidirectional(const bool &bidirectional)
Set bidirectional option. If true, this will bridge the topic in both directions.
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const bool &reversed() const
Get reversed option.
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TopicBridgeOptions &reversed(const bool &reversed)
Set reversed option. If true, this will swap the ‘to’ and ‘from’ domain IDs.
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const std::chrono::milliseconds &delay() const
Get bridge delay.
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TopicBridgeOptions &delay(const std::chrono::milliseconds &delay)
Set bridge delay (amount of time to wait for publishers before creating bridge).
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TopicBridgeOptions &wait_for_subscription(bool value)
Set wait_for_subscription to
value.When set to true, the domain bridge will wait for a subscription to be available in the “to domain” before creating the bridge.
If wait_for_publisher() is also true, the bridge will first wait for an available publisher and then for an available subscription. QoS matching will be taken from the publisher in that case.
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bool wait_for_subscription() const
Get wait_for_subscription option.
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TopicBridgeOptions &wait_for_publisher(bool value)
Set wait_for_publisher to value.
When set to true, the domain bridge will wait for a publisher to be available in the “from domain” before creating the bridge.
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bool wait_for_publisher() const
Get wait_for_publisher option.
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TopicBridgeOptions &auto_remove(AutoRemove value)
Set auto_remove to value.
If set to AutoRemove::OnNoPublisher the domain bridge will stop bridging when no publisher is available in the “from domain”. The bridge will automatically be created again when a new publisher is discovered.
If set to AutoRemove::OnNoSubscription the domain bridge will stop bridging when no subscription is available in the “to domain”. The bridge will automatically be created again when a new subscription is discovered.
When set to AutoRemove::Disabled, the bridge will keep running forever once created.
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AutoRemove auto_remove() const
Get remove_if_no_publisher option.
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TopicBridgeOptions() = default