Class ToolBaseNode

Defined in File tool_base_node.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Derived Types

public topic_tools::DelayNode (Class DelayNode)
public topic_tools::DropNode (Class DropNode)
public topic_tools::MuxNode (Class MuxNode)
public topic_tools::RelayNode (Class RelayNode)
public topic_tools::ThrottleNode (Class ThrottleNode)

Class Documentation

class ToolBaseNode : public rclcpp::Node

Subclassed by topic_tools::DelayNode, topic_tools::DropNode, topic_tools::MuxNode, topic_tools::RelayNode, topic_tools::ThrottleNode

Public Functions

TOPIC_TOOLS_PUBLIC ToolBaseNode(const std::string &node_name, const rclcpp::NodeOptions &options)

Protected Functions

virtual void process_message(std::shared_ptr<rclcpp::SerializedMessage> msg) = 0

std::optional<std::pair<std::string, rclcpp::QoS>> try_discover_source(): Returns an optional pair <topic type, QoS profile> of the first found source publishing on input_topic_ if at least one source is found

virtual void make_subscribe_unsubscribe_decisions()

Protected Attributes

std::chrono::duration<float> discovery_period_ = std::chrono::milliseconds{100}

std::optional<std::string> topic_type_

std::optional<rclcpp::QoS> qos_profile_

std::string input_topic_

std::string output_topic_

bool lazy_

rclcpp::TimerBase::SharedPtr discovery_timer_

rclcpp::GenericPublisher::SharedPtr pub_

rclcpp::GenericSubscription::SharedPtr sub_

std::mutex pub_mutex_