ROS subscription filter. More...

#include <subscriber.h>

Inheritance diagram for message_filters::Subscriber< M >:

Public Types
typedef ros::MessageEvent< M const >	EventType
typedef boost::shared_ptr< M const >	MConstPtr
Public Member Functions
void	add (const EventType &e)
	Does nothing. Provided so that Subscriber may be used in a message_filters::Chain.
template<typename F >
void	connectInput (F &f)
	Does nothing. Provided so that Subscriber may be used in a message_filters::Chain.
const ros::Subscriber &	getSubscriber () const
	Returns the internal ros::Subscriber object.
std::string	getTopic () const
void	subscribe (ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size, const ros::TransportHints &transport_hints=ros::TransportHints(), ros::CallbackQueueInterface *callback_queue=0)
	Subscribe to a topic.
void	subscribe ()
	Re-subscribe to a topic. Only works if this subscriber has previously been subscribed to a topic.
	Subscriber (ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size, const ros::TransportHints &transport_hints=ros::TransportHints(), ros::CallbackQueueInterface *callback_queue=0)
	Constructor.
	Subscriber ()
	Empty constructor, use subscribe() to subscribe to a topic.
void	unsubscribe ()
	Force immediate unsubscription of this subscriber from its topic.
	~Subscriber ()
Private Member Functions
void	cb (const EventType &e)
Private Attributes
ros::NodeHandle	nh_
ros::SubscribeOptions	ops_
ros::Subscriber	sub_

Detailed Description

template<class M>
class message_filters::Subscriber< 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 roscpp subscription callbacks, ie.

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

Definition at line 95 of file subscriber.h.

Member Typedef Documentation

template<class M>

typedef ros::MessageEvent<M const> message_filters::Subscriber< M >::EventType

Reimplemented from message_filters::SimpleFilter< M >.

Definition at line 99 of file subscriber.h.

template<class M>

typedef boost::shared_ptr<M const> message_filters::Subscriber< M >::MConstPtr

Reimplemented from message_filters::SimpleFilter< M >.

Definition at line 98 of file subscriber.h.

Constructor & Destructor Documentation

template<class M>

message_filters::Subscriber< M >::Subscriber	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	queue_size,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`,
		ros::CallbackQueueInterface *	callback_queue = `0`
	)		`[inline]`

Constructor.

See the ros::NodeHandle::subscribe() variants for more information on the parameters

Parameters:

nh	The ros::NodeHandle to use to subscribe.
topic	The topic to subscribe to.
queue_size	The subscription queue size
transport_hints	The transport hints to pass along
callback_queue	The callback queue to pass along

Definition at line 112 of file subscriber.h.

template<class M>

message_filters::Subscriber< M >::Subscriber ( ) [inline]

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

Definition at line 120 of file subscriber.h.

template<class M>

message_filters::Subscriber< M >::~Subscriber ( ) [inline]

Definition at line 124 of file subscriber.h.

Member Function Documentation

template<class M>

void message_filters::Subscriber< M >::add ( const EventType & e ) [inline]

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

Definition at line 197 of file subscriber.h.

template<class M>

void message_filters::Subscriber< M >::cb ( const EventType & e ) [inline, private]

Definition at line 204 of file subscriber.h.

template<class M>

template<typename F >

void message_filters::Subscriber< M >::connectInput ( F & f ) [inline]

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

Definition at line 189 of file subscriber.h.

template<class M>

const ros::Subscriber& message_filters::Subscriber< M >::getSubscriber ( ) const [inline]

Returns the internal ros::Subscriber object.

Definition at line 183 of file subscriber.h.

template<class M>

std::string message_filters::Subscriber< M >::getTopic ( ) const [inline]

Definition at line 175 of file subscriber.h.

template<class M>

void message_filters::Subscriber< M >::subscribe	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	queue_size,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`,
		ros::CallbackQueueInterface *	callback_queue = `0`
	)		`[inline, virtual]`

Subscribe to a topic.

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

Parameters:

nh	The ros::NodeHandle to use to subscribe.
topic	The topic to subscribe to.
queue_size	The subscription queue size
transport_hints	The transport hints to pass along
callback_queue	The callback queue to pass along