Template Class Subscriber

Defined in File Subscriber.hpp

Inheritance Relationships

Base Types

public soar_ros::Input< T > (Template Class Input)
public soar_ros::Interface (Class Interface)

Class Documentation

template<typename T> class Subscriber : public soar_ros::Input<T>, public soar_ros::Interface

Public Functions

inline Subscriber(sml::Agent *agent, rclcpp::Node::SharedPtr node, const std::string &topic, rclcpp::QoS qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)), rclcpp::CallbackGroup::SharedPtr callback_group = nullptr)

inline ~Subscriber()

inline void subscribe(rclcpp::Node::SharedPtr node): Create the rclcpp::Subscription. Called by SoarAgent::addSubscriber().

inline void callback(const T &msg)

inline virtual std::string getTopic() override

Get the topic of the subscriber.

Returns:

inline virtual sml::Agent *getAgent() override

Get the agent of the current interface.

Returns:

Protected Attributes

rclcpp::Subscription<T>::SharedPtr sub

std::string m_topic

rclcpp::Node::SharedPtr m_node

sml::Agent *m_pAgent

rclcpp::CallbackGroup::SharedPtr m_callback_group