org.ros.node.ConnectedNode Interface Reference

Inheritance diagram for org.ros.node.ConnectedNode:

List of all members.

Public Member Functions
Time	getCurrentTime ()
ParameterTree	getParameterTree ()
< T, S > ServiceServer< T, S >	getServiceServer (GraphName serviceName)
< T, S > ServiceServer< T, S >	getServiceServer (String serviceName)
URI	lookupServiceUri (GraphName serviceName)
URI	lookupServiceUri (String serviceName)
< T > Publisher< T >	newPublisher (GraphName topicName, String messageType)
< T > Publisher< T >	newPublisher (String topicName, String messageType)
< T, S > ServiceClient< T, S >	newServiceClient (GraphName serviceName, String serviceType) throws ServiceNotFoundException
< T, S > ServiceClient< T, S >	newServiceClient (String serviceName, String serviceType) throws ServiceNotFoundException
< T, S > ServiceServer< T, S >	newServiceServer (GraphName serviceName, String serviceType, ServiceResponseBuilder< T, S > serviceResponseBuilder)
< T, S > ServiceServer< T, S >	newServiceServer (String serviceName, String serviceType, ServiceResponseBuilder< T, S > serviceResponseBuilder)
< T > Subscriber< T >	newSubscriber (GraphName topicName, String messageType)
< T > Subscriber< T >	newSubscriber (String topicName, String messageType)

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Detailed Description

A node in the ROS graph that has successfully contacted the master.

A ConnectedNode serves as a factory for:

• Publisher
• Subscriber
• ServiceServer
• ServiceClient
• ParameterTree

Author:

damonkohler@google.com (Damon Kohler)

Definition at line 46 of file ConnectedNode.java.

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Member Function Documentation

Time org.ros.node.ConnectedNode.getCurrentTime

(

)

In ROS, time can be wallclock (actual) or simulated, so it is important to use ConnectedNode#getCurrentTime() instead of using the standard Java routines for determining the current time.

Returns:

the current time

Implemented in org.ros.internal.node.DefaultNode.

ParameterTree org.ros.node.ConnectedNode.getParameterTree

(

)

Create a ParameterTree to query and set parameters on the ROS parameter server.

Returns:

ParameterTree with NameResolver in this namespace.

Implemented in org.ros.internal.node.DefaultNode.

<T,S> ServiceServer<T, S> org.ros.node.ConnectedNode.getServiceServer

(

GraphName

serviceName

)

Parameters:

serviceName

the GraphName of the ServiceServer

Returns:

the ServiceServer with the given name or

 null 

if it does not exist

Implemented in org.ros.internal.node.DefaultNode.

<T,S> ServiceServer<T, S> org.ros.node.ConnectedNode.getServiceServer

(

String

serviceName

)

See also:

ConnectedNode::getServiceServer(GraphName)

Implemented in org.ros.internal.node.DefaultNode.

URI org.ros.node.ConnectedNode.lookupServiceUri

(

GraphName

serviceName

)

Parameters:

serviceName

the GraphName of the service URI to lookup

Returns:

the URI of the service or

 null 

if it does not exist

Implemented in org.ros.internal.node.DefaultNode.

URI org.ros.node.ConnectedNode.lookupServiceUri

(

String

serviceName

)

See also:

lookupServiceUri(GraphName)

Implemented in org.ros.internal.node.DefaultNode.

<T> Publisher<T> org.ros.node.ConnectedNode.newPublisher	(	GraphName	topicName,
		String	messageType
	)

Parameters:

<T>	the message type to create the publisher for
topicName	the topic name, will be pushed down under this namespace unless '/' is prepended.
messageType	the message data type (e.g. "std_msgs/String")

Returns:

a Publisher for the specified topic

Implemented in org.ros.internal.node.DefaultNode.

<T> Publisher<T> org.ros.node.ConnectedNode.newPublisher	(	String	topicName,
		String	messageType
	)

See also:

newPublisher(GraphName, String)

Implemented in org.ros.internal.node.DefaultNode.

<T,S> ServiceClient<T, S> org.ros.node.ConnectedNode.newServiceClient	(	GraphName	serviceName,
		String	serviceType
	)		throws ServiceNotFoundException

Create a ServiceClient.

Parameters:

serviceName	the name of the service
serviceType	the type of the service (e.g. "rosjava_test_msgs/AddTwoInts")

Returns:

a ServiceClient

Exceptions:

ServiceNotFoundException

thrown if no matching service could be found

Implemented in org.ros.internal.node.DefaultNode.

<T,S> ServiceClient<T, S> org.ros.node.ConnectedNode.newServiceClient	(	String	serviceName,
		String	serviceType
	)		throws ServiceNotFoundException

See also:

newServiceClient(GraphName, String)

Implemented in org.ros.internal.node.DefaultNode.

<T,S> ServiceServer<T, S> org.ros.node.ConnectedNode.newServiceServer	(	GraphName	serviceName,
		String	serviceType,
		ServiceResponseBuilder< T, S >	serviceResponseBuilder
	)

Create a new ServiceServer.

Parameters:

serviceName	the name of the service
serviceType	the type of the service (e.g. "rosjava_test_msgs/AddTwoInts")
serviceResponseBuilder	called for every request to build a response

Returns:

a ServiceServer

Implemented in org.ros.internal.node.DefaultNode.

<T,S> ServiceServer<T, S> org.ros.node.ConnectedNode.newServiceServer	(	String	serviceName,
		String	serviceType,
		ServiceResponseBuilder< T, S >	serviceResponseBuilder
	)

See also:

ConnectedNode::newServiceServer(GraphName, String, ServiceResponseBuilder)

Implemented in org.ros.internal.node.DefaultNode.

<T> Subscriber<T> org.ros.node.ConnectedNode.newSubscriber	(	GraphName	topicName,
		String	messageType
	)

Parameters:

<T>	the message type to create the Subscriber for
topicName	the topic name to be subscribed to, this will be auto resolved
messageType	the message data type (e.g. "std_msgs/String")

Returns:

a Subscriber for the specified topic

Implemented in org.ros.internal.node.DefaultNode.

<T> Subscriber<T> org.ros.node.ConnectedNode.newSubscriber	(	String	topicName,
		String	messageType
	)

See also:

newSubscriber(GraphName, String)

Implemented in org.ros.internal.node.DefaultNode.

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

• ConnectedNode.java