Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available. More...

#include <message_filter.h>

Inheritance diagram for tf2_ros::MessageFilter< M >:

[legend]

List of all members.

Classes
struct	CBQueueCallback
struct	MessageInfo
Public Types
typedef boost::function< void(const MConstPtr &, FilterFailureReason)>	FailureCallback
typedef boost::signals2::signal< void(const MConstPtr &, FilterFailureReason)>	FailureSignal
typedef boost::shared_ptr< M const >	MConstPtr
typedef ros::MessageEvent< M const >	MEvent
Public Member Functions
void	add (const MEvent &evt)
void	add (const MConstPtr &message)
	Manually add a message into this filter.
void	clear ()
	Clear any messages currently in the queue.
template<class F >
void	connectInput (F &f)
	Connect this filter's input to another filter's output. If this filter is already connected, disconnects first.
virtual uint32_t	getQueueSize ()
std::string	getTargetFramesString ()
	Get the target frames as a string for debugging.
	MessageFilter (tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, const ros::NodeHandle &nh)
	Constructor.
template<class F >
	MessageFilter (F &f, tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, const ros::NodeHandle &nh)
	Constructor.
	MessageFilter (tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, ros::CallbackQueueInterface *cbqueue)
	Constructor.
template<class F >
	MessageFilter (F &f, tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, ros::CallbackQueueInterface *cbqueue)
	Constructor.
message_filters::Connection	registerFailureCallback (const FailureCallback &callback)
	Register a callback to be called when a message is about to be dropped.
virtual void	setQueueSize (uint32_t new_queue_size)
void	setTargetFrame (const std::string &target_frame)
	Set the frame you need to be able to transform to before getting a message callback.
void	setTargetFrames (const V_string &target_frames)
	Set the frames you need to be able to transform to before getting a message callback.
void	setTolerance (const ros::Duration &tolerance)
	Set the required tolerance for the notifier to return true.
	~MessageFilter ()
	Destructor.
Private Types
typedef std::list< MessageInfo >	L_MessageInfo
typedef std::vector < tf2::TransformableRequestHandle >	V_TransformableRequestHandle
Private Member Functions
void	checkFailures ()
void	disconnectFailure (const message_filters::Connection &c)
void	incomingMessage (const ros::MessageEvent< M const > &evt)
	Callback that happens when we receive a message on the message topic.
void	init ()
void	messageDropped (const MEvent &evt, FilterFailureReason reason)
void	messageReady (const MEvent &evt)
void	signalFailure (const MEvent &evt, FilterFailureReason reason)
void	transformable (tf2::TransformableRequestHandle request_handle, const std::string &target_frame, const std::string &source_frame, ros::Time time, tf2::TransformableResult result)
Static Private Member Functions
static std::string	stripSlash (const std::string &in)
Private Attributes
tf2::BufferCore &	bc_
	The Transformer used to determine if transformation data is available.
tf2::TransformableCallbackHandle	callback_handle_
ros::CallbackQueueInterface *	callback_queue_
uint64_t	dropped_message_count_
uint32_t	expected_success_count_
uint64_t	failed_out_the_back_count_
FailureSignal	failure_signal_
boost::mutex	failure_signal_mutex_
uint64_t	incoming_message_count_
std::string	last_out_the_back_frame_
ros::Time	last_out_the_back_stamp_
message_filters::Connection	message_connection_
uint32_t	message_count_
	The number of messages in the list. Used because <container>.size() may have linear cost.
L_MessageInfo	messages_
boost::shared_mutex	messages_mutex_
	The mutex used for locking message list operations.
ros::WallTime	next_failure_warning_
uint32_t	queue_size_
	The maximum number of messages we queue up.
uint64_t	successful_transform_count_
V_string	target_frames_
	The frames we need to be able to transform to before a message is ready.
boost::mutex	target_frames_mutex_
	A mutex to protect access to the target_frames_ list and target_frames_string.
std::string	target_frames_string_
ros::Duration	time_tolerance_
	Provide additional tolerance on time for messages which are stamped but can have associated duration.
uint64_t	transform_message_count_
bool	warned_about_empty_frame_id_

Detailed Description

template<class M>
class tf2_ros::MessageFilter< M >

Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available.

The callbacks used in this class are of the same form as those used by roscpp's message callbacks.

MessageFilter is templated on a message type.

Example Usage

If you want to hook a MessageFilter into a ROS topic:

message_filters::Subscriber<MessageType> sub(node_handle_, "topic", 10);
tf::MessageFilter<MessageType> tf_filter(sub, tf_listener_, "/map", 10);
tf_filter.registerCallback(&MyClass::myCallback, this);

Definition at line 104 of file message_filter.h.

Member Typedef Documentation

template<class M >

typedef boost::function<void(const MConstPtr&, FilterFailureReason)> tf2_ros::MessageFilter< M >::FailureCallback

Definition at line 109 of file message_filter.h.

template<class M >

typedef boost::signals2::signal<void(const MConstPtr&, FilterFailureReason)> tf2_ros::MessageFilter< M >::FailureSignal

Definition at line 110 of file message_filter.h.

template<class M >

typedef std::list<MessageInfo> tf2_ros::MessageFilter< M >::L_MessageInfo [private]

Definition at line 681 of file message_filter.h.

template<class M >

typedef boost::shared_ptr<M const> tf2_ros::MessageFilter< M >::MConstPtr

Reimplemented from message_filters::SimpleFilter< M >.

Definition at line 107 of file message_filter.h.

template<class M >

typedef ros::MessageEvent<M const> tf2_ros::MessageFilter< M >::MEvent

Definition at line 108 of file message_filter.h.

template<class M >

typedef std::vector<tf2::TransformableRequestHandle> tf2_ros::MessageFilter< M >::V_TransformableRequestHandle [private]

Definition at line 670 of file message_filter.h.

Constructor & Destructor Documentation

template<class M >

tf2_ros::MessageFilter< M >::MessageFilter	(	tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)		`[inline]`

Constructor.

Parameters:

bc	The tf2::BufferCore this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
nh	The NodeHandle whose callback queue we should add callbacks to

Definition at line 126 of file message_filter.h.

template<class M >

template<class F >

tf2_ros::MessageFilter< M >::MessageFilter	(	F &	f,
		tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)		`[inline]`

Constructor.

Parameters:

f	The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
bc	The tf2::BufferCore this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
nh	The NodeHandle whose callback queue we should add callbacks to

Definition at line 146 of file message_filter.h.

template<class M >

tf2_ros::MessageFilter< M >::MessageFilter	(	tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbqueue
	)		`[inline]`

Constructor.

Parameters:

bc	The tf2::BufferCore this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
cbqueue	The callback queue to add callbacks to. If NULL, callbacks will happen from whatever thread either a) add() is called, which will generally be when the previous filter in the chain outputs a message, or b) tf2::BufferCore::setTransform() is called

Definition at line 168 of file message_filter.h.

template<class M >

template<class F >

tf2_ros::MessageFilter< M >::MessageFilter	(	F &	f,
		tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbqueue
	)		`[inline]`

Constructor.

Parameters:

f	The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
bc	The tf2::BufferCore this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
cbqueue	The callback queue to add callbacks to. If NULL, callbacks will happen from whatever thread either a) add() is called, which will generally be when the previous filter in the chain outputs a message, or b) tf2::BufferCore::setTransform() is called

Definition at line 190 of file message_filter.h.

template<class M >

tf2_ros::MessageFilter< M >::~MessageFilter ( ) [inline]

Destructor.

Definition at line 215 of file message_filter.h.

Member Function Documentation

template<class M >

void tf2_ros::MessageFilter< M >::add ( const MEvent & evt ) [inline]

Definition at line 293 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::add ( const MConstPtr & message ) [inline]

Manually add a message into this filter.

Note:: If the message (or any other messages in the queue) are immediately transformable this will immediately call through to the output callback, possibly multiple times

Definition at line 408 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::checkFailures ( ) [inline, private]

Definition at line 554 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::clear ( ) [inline, virtual]

Clear any messages currently in the queue.

Implements tf2_ros::MessageFilterBase.

Definition at line 278 of file message_filter.h.

template<class M >

template<class F >

void tf2_ros::MessageFilter< M >::connectInput ( F & f ) [inline]

Connect this filter's input to another filter's output. If this filter is already connected, disconnects first.

Definition at line 206 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::disconnectFailure ( const message_filters::Connection & c ) [inline, private]

Definition at line 639 of file message_filter.h.

template<class M >

virtual uint32_t tf2_ros::MessageFilter< M >::getQueueSize ( ) [inline, virtual]

Definition at line 432 of file message_filter.h.

template<class M >

std::string tf2_ros::MessageFilter< M >::getTargetFramesString ( ) [inline]

Get the target frames as a string for debugging.

Definition at line 259 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::incomingMessage ( const ros::MessageEvent< M const > & evt ) [inline, private]

Callback that happens when we receive a message on the message topic.

Definition at line 549 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::init ( ) [inline, private]

Definition at line 440 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::messageDropped	(	const MEvent &	evt,
		FilterFailureReason	reason
	)		`[inline, private]`

Definition at line 613 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::messageReady ( const MEvent & evt ) [inline, private]

Definition at line 626 of file message_filter.h.

template<class M >

message_filters::Connection tf2_ros::MessageFilter< M >::registerFailureCallback ( const FailureCallback & callback ) [inline]

Register a callback to be called when a message is about to be dropped.

Parameters:

callback The callback to call

Definition at line 421 of file message_filter.h.

template<class M >

virtual void tf2_ros::MessageFilter< M >::setQueueSize ( uint32_t new_queue_size ) [inline, virtual]

Definition at line 427 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::setTargetFrame ( const std::string & target_frame ) [inline, virtual]

Set the frame you need to be able to transform to before getting a message callback.

Implements tf2_ros::MessageFilterBase.

Definition at line 231 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::setTargetFrames ( const V_string & target_frames ) [inline, virtual]

Set the frames you need to be able to transform to before getting a message callback.

Implements tf2_ros::MessageFilterBase.

Definition at line 241 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::setTolerance ( const ros::Duration & tolerance ) [inline, virtual]

Set the required tolerance for the notifier to return true.

Implements tf2_ros::MessageFilterBase.

Definition at line 268 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::signalFailure	(	const MEvent &	evt,
		FilterFailureReason	reason
	)		`[inline, private]`

Definition at line 645 of file message_filter.h.

template<class M >

static std::string tf2_ros::MessageFilter< M >::stripSlash ( const std::string & in ) [inline, static, private]

Definition at line 652 of file message_filter.h.

template<class M >

void tf2_ros::MessageFilter< M >::transformable	(	tf2::TransformableRequestHandle	request_handle,
		const std::string &	target_frame,
		const std::string &	source_frame,
		ros::Time	time,
		tf2::TransformableResult	result
	)		`[inline, private]`