rc::Protobuf2RosStream Class Reference

Implementation of a ThreadedStream that receives rc_visard's dynamics protobuf messages and re-publishes them as ros messages. More...

#include <protobuf2ros_stream.h>

Inheritance diagram for rc::Protobuf2RosStream:

Public Member Functions
	Protobuf2RosStream (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh, const std::string &frame_id_prefix)
Public Member Functions inherited from rc::ThreadedStream
void	join ()
const std::string &	name () const
const std::atomic_bool &	requested () const
void	start ()
void	stop ()
const std::atomic_bool &	succeeded () const

Protected Member Functions
virtual bool	checkRosPublishersUsed ()
virtual void	initRosPublishers ()
virtual void	publishToRos (std::shared_ptr<::google::protobuf::Message > pbMsg)
virtual bool	startReceivingAndPublishingAsRos () override
Protected Member Functions inherited from rc::ThreadedStream
	ThreadedStream (rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string &stream, ros::NodeHandle &nh)
virtual void	work ()

Protected Attributes
std::shared_ptr< Protobuf2RosPublisher >	_rosPublisher
const std::string	_tfPrefix
Protected Attributes inherited from rc::ThreadedStream
Manager::Ptr	_manager
ros::NodeHandle	_nh
rc::dynamics::RemoteInterface::Ptr	_rcdyn
std::atomic_bool	_requested
std::atomic_bool	_stop
std::string	_stream
std::atomic_bool	_success
std::thread	_thread

Additional Inherited Members
Public Types inherited from rc::ThreadedStream
typedef std::shared_ptr< ThreadedStream >	Ptr

Detailed Description

Implementation of a ThreadedStream that receives rc_visard's dynamics protobuf messages and re-publishes them as ros messages.

The ros topic is the dynamics stream name; the ros message type is determined by the protobuf message type of the dynamics stream.

Definition at line 56 of file protobuf2ros_stream.h.

Constructor & Destructor Documentation

rc::Protobuf2RosStream::Protobuf2RosStream ( rc::dynamics::RemoteInterface::Ptr  rcdIface, const std::string &  stream, ros::NodeHandle &  nh, const std::string &  frame_id_prefix  )

inline

Definition at line 59 of file protobuf2ros_stream.h.

Member Function Documentation

bool rc::Protobuf2RosStream::checkRosPublishersUsed ( )

protectedvirtual

Reimplemented in rc::DynamicsStream, and rc::PoseAndTFStream.

Definition at line 199 of file protobuf2ros_stream.cc.

void rc::Protobuf2RosStream::initRosPublishers ( )

protectedvirtual

Reimplemented in rc::DynamicsStream, and rc::PoseAndTFStream.

Definition at line 193 of file protobuf2ros_stream.cc.

void rc::Protobuf2RosStream::publishToRos ( std::shared_ptr<::google::protobuf::Message >  pbMsg )

protectedvirtual

Reimplemented in rc::DynamicsStream, and rc::PoseAndTFStream.

Definition at line 204 of file protobuf2ros_stream.cc.

bool rc::Protobuf2RosStream::startReceivingAndPublishingAsRos ( )

overrideprotectedvirtual

Returns

true, if stopped without fails

Implements rc::ThreadedStream.

Definition at line 53 of file protobuf2ros_stream.cc.

Member Data Documentation

std::shared_ptr<Protobuf2RosPublisher> rc::Protobuf2RosStream::_rosPublisher

protected

Definition at line 72 of file protobuf2ros_stream.h.

const std::string rc::Protobuf2RosStream::_tfPrefix

protected

Definition at line 73 of file protobuf2ros_stream.h.

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The documentation for this class was generated from the following files:

• protobuf2ros_stream.h
• protobuf2ros_stream.cc