Template Class Subscriber

Inheritance Relationships

Base Types

Class Documentation

template<class M, class NodeType = rclcpp::Node>
class Subscriber : public message_filters::SubscriberBase<rclcpp::Node>, public message_filters::SimpleFilter<M>

ROS subscription filter.

This class acts as a highest-level filter, simply passing messages from a ROS subscription through to the filters which have connected to it.

When this object is destroyed it will unsubscribe from the ROS subscription.

The Subscriber object is templated on the type of message being subscribed to.

CONNECTIONS

Subscriber has no input connection.

The output connection for the Subscriber object is the same signature as for rclcpp subscription callbacks, ie. 

void callback(const std::shared_ptr<M const>&);

Public Types

typedef std::shared_ptr<NodeType> NodePtr
typedef MessageEvent<M const> EventType

Public Functions

inline Subscriber(NodePtr node, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)

Constructor.

See the rclcpp::Node::subscribe() variants for more information on the parameters

Parameters:

  • node – The rclcpp::Node::SharedPtr to use to subscribe.

  • topic – The topic to subscribe to.

  • qos – (optional) The rmw qos profile to use to subscribe

inline Subscriber(NodeType *node, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)
inline Subscriber(NodePtr node, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options)

Constructor.

See the rclcpp::Node::subscribe() variants for more information on the parameters

Parameters:

  • node – The rclcpp::Node::SharedPtr to use to subscribe.

  • topic – The topic to subscribe to.

  • qos – The rmw qos profile to use to subscribe.

  • options – The subscription options to use to subscribe.

inline Subscriber(NodeType *node, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options)
Subscriber() = default

Empty constructor, use subscribe() to subscribe to a topic.

inline ~Subscriber()
inline void subscribe(NodePtr node, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) override

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

  • node – The rclcpp::Node::SharedPtr to use to subscribe.

  • topic – The topic to subscribe to.

  • qos – (optional) The rmw qos profile to use to subscribe

inline void subscribe(NodeType *node, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) override

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

  • node – The rclcpp::Node to use to subscribe.

  • topic – The topic to subscribe to.

  • qos – (optional) The rmw qos profile to use to subscribe

inline void subscribe(NodePtr node, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options) override

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

  • node – The rclcpp::Node::SharedPtr to use to subscribe.

  • topic – The topic to subscribe to.

  • qos – The rmw qos profile to use to subscribe.

  • options – The subscription options to use to subscribe.

inline void subscribe(NodeType *node, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options) override

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

  • node – The rclcpp::Node to use to subscribe.

  • topic – The topic to subscribe to.

  • qos – The rmw qos profile to use to subscribe

  • options – The subscription options to use to subscribe.

inline virtual void subscribe() override

Re-subscribe to a topic. Only works if this subscriber has previously been subscribed to a topic.

inline virtual void unsubscribe() override

Force immediate unsubscription of this subscriber from its topic.

inline std::string getTopic() const
inline const rclcpp::Subscription<M>::SharedPtr getSubscriber() const

Returns the internal rclcpp::Subscription<M>::SharedPtr object.

template<typename F>
inline void connectInput(F &f)

Does nothing. Provided so that Subscriber may be used in a message_filters::Chain.

inline void add(const EventType &e)

Does nothing. Provided so that Subscriber may be used in a message_filters::Chain.