pilz_utils Namespace Reference

Classes
class	GetParamException
	Exception used by the getParam function. More...

Functions
template<class T >
T	getParam (const ros::NodeHandle &nh, const std::string &param_name)
static bool	sleep (const ros::Duration &sleep_duration)
	Replace the sim-time part of ros::Duration::sleep() by a progressing in time. More...
template<class T >
static void	waitForMessage (const std::string topic_name, const double retry_timeout=DEFAULT_RETRY_TIMEOUT, const double msg_output_period=DEFAULT_MSG_OUTPUT_PERIOD)
	Waits (infinitely) until a message arrives on the specified topic. More...
static void	waitForService (const std::string service_name, const double retry_timeout=DEFAULT_RETRY_TIMEOUT, const double msg_output_period=DEFAULT_MSG_OUTPUT_PERIOD)
	Waits until the specified service starts. More...

Variables
static constexpr double	DEFAULT_MSG_OUTPUT_PERIOD {5.0}
static constexpr double	DEFAULT_RETRY_TIMEOUT {0.2}

Function Documentation

template<class T >

T pilz_utils::getParam	(	const ros::NodeHandle &	nh,
		const std::string &	param_name
	)

Definition at line 45 of file get_param.h.

static bool pilz_utils::sleep ( const ros::Duration &  sleep_duration )

static

Replace the sim-time part of ros::Duration::sleep() by a progressing in time.

Use this in production code in order to facilitate tests with simulated time.

When using simulated time, ros::Duration::sleep() has to be synchronized with calls to ros::Time::setNow(), else it will block. This sleep function simply performs the progressing in time itself, such that it never blocks.

Note

Simulated time is valid, if it is non-zero. Otherwise no sleep is performed.

Modifying the simulated time in parallel to this function will lead to unpredictable results.

Returns

Returns true if sleep was performed and false if not.

Definition at line 38 of file sleep.h.

template<class T >

static void pilz_utils::waitForMessage ( const std::string  topic_name, const double  retry_timeout = DEFAULT_RETRY_TIMEOUT, const double  msg_output_period = DEFAULT_MSG_OUTPUT_PERIOD  )

static

Waits (infinitely) until a message arrives on the specified topic.

Definition at line 34 of file wait_for_message.h.

static void pilz_utils::waitForService ( const std::string  service_name, const double  retry_timeout = DEFAULT_RETRY_TIMEOUT, const double  msg_output_period = DEFAULT_MSG_OUTPUT_PERIOD  )

inlinestatic

Waits until the specified service starts.

Definition at line 33 of file wait_for_service.h.

Variable Documentation

constexpr double pilz_utils::DEFAULT_MSG_OUTPUT_PERIOD {5.0}

static

Definition at line 24 of file wait_for_timeouts.h.

constexpr double pilz_utils::DEFAULT_RETRY_TIMEOUT {0.2}

static

Definition at line 23 of file wait_for_timeouts.h.