ros Namespace Reference

Namespaces
	console
	debug
	file_log
	internal
	init_options
	internal
	master
	Contains functions which allow you to query information about the master.
	message_operations
	message_traits
	names
	Contains functions which allow you to manipulate ROS names.
	network
	internal
	package
	param
	Contains functions which allow you to query the parameter server.
	serialization
	service
	Contains functions for querying information about and calling a service.
	service_traits
	this_node
	Contains functions which provide information about this process' ROS node.
	topic
	xmlrpc
	internal

Classes
struct	AdvertiseOptions
	Encapsulates all options available for creating a Publisher. More...
struct	AdvertiseServiceOptions
	Encapsulates all options available for creating a ServiceServer. More...
class	AsyncSpinner
	AsyncSpinner is a spinner that does not conform to the abstract Spinner interface. Instead, it spins asynchronously when you call start(), and stops when either you call stop(), ros::shutdown() is called, or its destructor is called. More...
class	AsyncSpinnerImpl
class	ASyncXMLRPCConnection
class	CachedXmlRpcClient
class	CallbackInterface
	Abstract interface for items which can be added to a CallbackQueueInterface. More...
class	CallbackQueue
	This is the default implementation of the ros::CallbackQueueInterface. More...
class	CallbackQueueInterface
	Abstract interface for a queue used to handle all callbacks within roscpp. More...
class	ConflictingSubscriptionException
	Thrown when a second (third,...) subscription is attempted with conflicting arguments. More...
class	Connection
	Encapsulates a connection to a remote host, independent of the transport type. More...
class	ConnectionManager
struct	DefaultMessageCreator
class	Duration
class	DurationBase
class	Exception
class	Header
class	IntraProcessPublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class	IntraProcessSubscriberLink
	SubscriberLink handles broadcasting messages to a single subscriber on a single topic. More...
class	InvalidNameException
	Thrown when an invalid graph resource name is specified to any roscpp function. More...
class	InvalidNodeNameException
	Thrown when an invalid node name is specified to ros::init() More...
class	InvalidParameterException
	Thrown when an invalid parameter is passed to a method. More...
class	InvalidPortException
	Thrown when an invalid port is specified. More...
class	MessageDeserializer
class	MessageEvent
class	MultiThreadedSpinner
	Spinner which spins in multiple threads. More...
class	NodeHandle
	roscpp's interface for creating subscribers, publishers, etc. More...
class	NodeHandleBackingCollection
class	NoHighPerformanceTimersException
struct	ParameterAdapter
	Generally not for outside use. Adapts a function parameter type into the message type, event type and parameter. Allows you to retrieve a parameter type from an event type. More...
struct	ParameterAdapter< boost::shared_ptr< M > >
struct	ParameterAdapter< boost::shared_ptr< M const > >
struct	ParameterAdapter< const boost::shared_ptr< M > & >
struct	ParameterAdapter< const boost::shared_ptr< M const > & >
struct	ParameterAdapter< const M & >
struct	ParameterAdapter< const ros::MessageEvent< M > & >
struct	ParameterAdapter< const ros::MessageEvent< M const > & >
class	PeerConnDisconnCallback
class	PollManager
class	PollSet
	Manages a set of sockets being polled through the poll() function call. More...
class	Publication
	A Publication manages an advertised topic. More...
class	Publisher
	Manages an advertisement on a specific topic. More...
class	PublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class	Rate
class	ROSOutAppender
class	SerializedMessage
class	ServiceCallback
class	ServiceCallbackHelper
	Abstract base class used by service servers to deal with concrete message types through a common interface. This is one part of the roscpp API that is not fully stable, so overloading this class is not recommended. More...
struct	ServiceCallbackHelperCallParams
class	ServiceCallbackHelperT
	Concrete generic implementation of ServiceCallbackHelper for any normal service type. More...
class	ServiceClient
	Provides a handle-based interface to service client connections. More...
class	ServiceClientLink
	Handles a connection to a single incoming service client. More...
struct	ServiceClientOptions
	Encapsulates all options available for creating a ServiceClient. More...
class	ServiceEvent
	Event type for services, ros::ServiceEvent<MReq, MRes>& can be used in your callback instead of MReq&, MRes&. More...
class	ServiceManager
class	ServicePublication
	Manages an advertised service. More...
class	ServiceServer
	Manages an service advertisement. More...
class	ServiceServerLink
	Handles a connection to a service. If it's a non-persistent client, automatically disconnects when its first service call has finished. More...
struct	ServiceSpec
struct	ServiceSpecCallParams
class	SingleSubscriberPublisher
	Allows publication of a message to a single subscriber. Only available inside subscriber connection callbacks. More...
class	SingleThreadedSpinner
	Spinner which runs in a single thread. More...
class	Spinner
	Abstract interface for classes which spin on a callback queue. More...
class	StatisticsLogger
	This class logs statistics data about a ROS connection and publishs them periodically on a common topic. More...
class	SteadyTime
class	SteadyTimer
	Manages a steady-clock timer callback. More...
struct	SteadyTimerEvent
	Structure passed as a parameter to the callback invoked by a ros::SteadyTimer. More...
struct	SteadyTimerOptions
	Encapsulates all options available for starting a timer. More...
struct	SubscribeOptions
	Encapsulates all options available for creating a Subscriber. More...
class	Subscriber
	Manages an subscription callback on a specific topic. More...
struct	SubscriberCallbacks
class	SubscriberLink
class	Subscription
	Manages a subscription on a single topic. More...
class	SubscriptionCallbackHelper
	Abstract base class used by subscriptions to deal with concrete message types through a common interface. This is one part of the roscpp API that is not fully stable, so overloading this class is not recommended. More...
struct	SubscriptionCallbackHelperCallParams
struct	SubscriptionCallbackHelperDeserializeParams
class	SubscriptionCallbackHelperT
	Concrete generic implementation of SubscriptionCallbackHelper for any normal message type. Use directly with care, this is mostly for internal use. More...
class	SubscriptionQueue
class	Time
class	TimeBase
class	TimeNotInitializedException
class	Timer
	Manages a timer callback. More...
struct	TimerEvent
	Structure passed as a parameter to the callback invoked by a ros::Timer. More...
class	TimerManager
struct	TimerOptions
	Encapsulates all options available for starting a timer. More...
class	TopicManager
class	Transport
	Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory, UDP... More...
class	TransportHints
	Provides a way of specifying network transport hints to ros::NodeHandle::subscribe() and someday ros::NodeHandle::advertise() More...
class	TransportPublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class	TransportSubscriberLink
	SubscriberLink handles broadcasting messages to a single subscriber on a single topic. More...
class	TransportTCP
	TCPROS transport. More...
class	TransportUDP
	UDPROS transport. More...
struct	TransportUDPHeader
class	WallDuration
class	WallRate
class	WallTime
class	WallTimer
	Manages a wall-clock timer callback. More...
struct	WallTimerEvent
	Structure passed as a parameter to the callback invoked by a ros::WallTimer. More...
struct	WallTimerOptions
	Encapsulates all options available for starting a timer. More...
class	XMLRPCCallWrapper
class	XMLRPCManager

Typedefs
typedef boost::shared_ptr< AsyncSpinnerImpl >	AsyncSpinnerImplPtr
typedef boost::shared_ptr< ASyncXMLRPCConnection >	ASyncXMLRPCConnectionPtr
typedef boost::shared_ptr< CallbackInterface >	CallbackInterfacePtr
typedef boost::shared_ptr< CallbackQueue >	CallbackQueuePtr
typedef boost::shared_ptr< ConnectionManager >	ConnectionManagerPtr
typedef boost::shared_ptr< Connection >	ConnectionPtr
typedef boost::function< bool(const ConnectionPtr &, const Header &)>	HeaderReceivedFunc
typedef init_options::InitOption	InitOption
typedef TimerManager< SteadyTime, WallDuration, SteadyTimerEvent >	InternalTimerManager
typedef boost::shared_ptr< InternalTimerManager >	InternalTimerManagerPtr
typedef boost::shared_ptr< IntraProcessPublisherLink >	IntraProcessPublisherLinkPtr
typedef boost::shared_ptr< IntraProcessSubscriberLink >	IntraProcessSubscriberLinkPtr
typedef std::list< ServicePublicationPtr >	L_ServicePublication
typedef std::list< ServiceServerLinkPtr >	L_ServiceServerLink
typedef std::list< SubscriptionPtr >	L_Subscription
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef std::map< std::string, std::string >	M_string
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< M_string >	M_stringPtr
typedef boost::shared_ptr< MessageDeserializer >	MessageDeserializerPtr
typedef boost::shared_ptr< NodeHandle >	NodeHandlePtr
typedef boost::shared_ptr< std::vector< socket_pollfd > >	pollfd_vector_ptr
typedef boost::shared_ptr< PollManager >	PollManagerPtr
typedef boost::shared_ptr< Publication >	PublicationPtr
typedef boost::weak_ptr< Publication >	PublicationWPtr
typedef boost::shared_ptr< PublisherLink >	PublisherLinkPtr
typedef boost::function< void(const ConnectionPtr &, const boost::shared_array< uint8_t > &, uint32_t, bool)>	ReadFinishedFunc
typedef std::set< ASyncXMLRPCConnectionPtr >	S_ASyncXMLRPCConnection
typedef std::set< ConnectionPtr >	S_Connection
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< std::string >	S_string
typedef std::set< SubscriptionPtr >	S_Subscription
typedef boost::shared_ptr< ServiceCallbackHelper >	ServiceCallbackHelperPtr
typedef boost::shared_ptr< ServiceClientLink >	ServiceClientLinkPtr
typedef boost::shared_ptr< ServiceClient >	ServiceClientPtr
typedef boost::shared_ptr< ServiceManager >	ServiceManagerPtr
typedef boost::shared_ptr< ServicePublication >	ServicePublicationPtr
typedef boost::weak_ptr< ServicePublication >	ServicePublicationWPtr
typedef boost::shared_ptr< ServiceServerLink >	ServiceServerLinkPtr
typedef int	signal_fd_t
typedef int	socket_fd_t
typedef struct pollfd	socket_pollfd
typedef boost::function< void(const SteadyTimerEvent &)>	SteadyTimerCallback
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef std::pair< std::string, std::string >	StringPair
typedef boost::shared_ptr< SubscriberCallbacks >	SubscriberCallbacksPtr
typedef boost::shared_ptr< SubscriberLink >	SubscriberLinkPtr
typedef boost::function< void(const SingleSubscriberPublisher &)>	SubscriberStatusCallback
typedef boost::shared_ptr< SubscriptionCallbackHelper >	SubscriptionCallbackHelperPtr
typedef boost::shared_ptr< SubscriptionCallback >	SubscriptionCallbackPtr
typedef boost::shared_ptr< Subscription >	SubscriptionPtr
typedef boost::shared_ptr< SubscriptionQueue >	SubscriptionQueuePtr
typedef boost::weak_ptr< Subscription >	SubscriptionWPtr
typedef boost::function< void(const TimerEvent &)>	TimerCallback
typedef boost::shared_ptr< TopicManager >	TopicManagerPtr
typedef boost::shared_ptr< Transport >	TransportPtr
typedef boost::shared_ptr< TransportPublisherLink >	TransportPublisherLinkPtr
typedef boost::shared_ptr< TransportSubscriberLink >	TransportSubscriberLinkPtr
typedef boost::shared_ptr< TransportTCP >	TransportTCPPtr
typedef struct ros::TransportUDPHeader	TransportUDPHeader
typedef boost::shared_ptr< TransportUDP >	TransportUDPPtr
typedef std::vector< ConnectionPtr >	V_Connection
typedef std::vector< PublicationPtr >	V_Publication
typedef std::vector< Publisher >	V_Publisher
typedef std::vector< PublisherLinkPtr >	V_PublisherLink
typedef std::vector< ServiceClientLinkPtr >	V_ServiceClientLink
typedef std::vector< ServicePublicationPtr >	V_ServicePublication
typedef std::vector< ServiceServer >	V_ServiceServer
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< std::string >	V_string
typedef std::vector< Subscriber >	V_Subscriber
typedef std::vector< SubscriberLinkPtr >	V_SubscriberLink
typedef std::vector< SubscriptionPtr >	V_Subscription
typedef boost::shared_ptr< void const >	VoidConstPtr
typedef boost::weak_ptr< void const >	VoidConstWPtr
typedef boost::function< void(void)>	VoidFunc
typedef boost::shared_ptr< void >	VoidPtr
typedef boost::signals2::signal< void(void)>	VoidSignal
typedef boost::weak_ptr< void >	VoidWPtr
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef std::vector< std::pair< std::string, std::string > >	VP_string
typedef boost::function< void(const WallTimerEvent &)>	WallTimerCallback
typedef boost::function< void(const ConnectionPtr &)>	WriteFinishedFunc
typedef boost::shared_ptr< XMLRPCCallWrapper >	XMLRPCCallWrapperPtr
typedef boost::function< void(XmlRpc::XmlRpcValue &, XmlRpc::XmlRpcValue &)>	XMLRPCFunc
typedef boost::shared_ptr< XMLRPCManager >	XMLRPCManagerPtr

Functions
ROSCPP_DECL void	add_socket_to_watcher (int epfd, int fd)
void	atexitCallback ()
void	basicSigintHandler (int sig)
void	check_ipv6_environment ()
void	checkForShutdown ()
void	clockCallback (const rosgraph_msgs::Clock::ConstPtr &msg)
void	close_signal_pair (signal_fd_t signal_pair[2])
ROSCPP_DECL int	close_socket (socket_fd_t &socket)
	Close the socket. More...
ROSCPP_DECL void	close_socket_watcher (int fd)
bool	closeAllConnections (roscpp::Empty::Request &, roscpp::Empty::Response &)
void	closeTransport (const TransportUDPPtr &trans)
ROSCPP_DECL int	create_signal_pair (signal_fd_t signal_pair[2])
ROSCPP_DECL int	create_socket_watcher ()
ROS_DEPRECATED boost::shared_ptr< M >	defaultMessageCreateFunction ()
template<typename M >
boost::shared_ptr< M >	defaultServiceCreateFunction ()
ROSCPP_DECL void	del_socket_from_watcher (int epfd, int fd)
const Duration	DURATION_MAX (std::numeric_limits< int32_t >::max(), 999999999)
const Duration	DURATION_MIN (std::numeric_limits< int32_t >::min(), 0)
static bool	g_initialized (false)
static bool	g_stopped (false)
static bool	g_use_sim_time (true)
bool	get_environment_variable (std::string &str, const char *environment_variable)
ROSCPP_DECL CallbackQueue *	getGlobalCallbackQueue ()
	Returns a pointer to the global default callback queue. More...
CallbackQueuePtr	getInternalCallbackQueue ()
ROSCPP_DECL InternalTimerManagerPtr	getInternalTimerManager ()
bool	getLoggers (roscpp::GetLoggers::Request &, roscpp::GetLoggers::Response &resp)
void	getPid (const XmlRpcValue &params, XmlRpcValue &result)
ROSCPP_DECL std::string	getROSArg (int argc, const char *const *argv, const std::string &arg)
	searches the command line arguments for the given arg parameter. In case this argument is not found an empty string is returned. More...
ROSCPP_DECL void	init (int &argc, char **argv, const std::string &name, uint32_t options=0)
	ROS initialization function. More...
ROSCPP_DECL void	init (const M_string &remappings, const std::string &name, uint32_t options=0)
	alternate ROS initialization function. More...
ROSCPP_DECL void	init (const VP_string &remapping_args, const std::string &name, uint32_t options=0)
	alternate ROS initialization function. More...
ROSCPP_DECL void	initInternalTimerManager ()
void	internalCallbackQueueThreadFunc ()
ROSCPP_DECL bool	isInitialized ()
	Returns whether or not ros::init() has been called. More...
ROSCPP_DECL bool	isShuttingDown ()
	Returns whether or not ros::shutdown() has been (or is being) called. More...
ROSCPP_DECL bool	isStarted ()
	Returns whether or not the node has been started through ros::start() More...
ROSCPP_DECL int	last_socket_error ()
ROSCPP_DECL bool	last_socket_error_is_would_block ()
ROSCPP_DECL const char *	last_socket_error_string ()
bool	md5sumsMatch (const std::string &lhs, const std::string &rhs)
ROSTIME_DECL void	normalizeSecNSec (uint32_t &sec, uint32_t &nsec)
ROSTIME_DECL void	normalizeSecNSec (uint64_t &sec, uint64_t &nsec)
ROSTIME_DECL void	normalizeSecNSecSigned (int64_t &sec, int64_t &nsec)
ROSTIME_DECL void	normalizeSecNSecSigned (int32_t &sec, int32_t &nsec)
ROSTIME_DECL void	normalizeSecNSecUnsigned (int64_t &sec, int64_t &nsec)
ROSCPP_DECL bool	ok ()
	Check whether it's time to exit. More...
ROSTIME_DECL std::ostream &	operator<< (std::ostream &os, const Duration &rhs)
ROSTIME_DECL std::ostream &	operator<< (std::ostream &os, const Time &rhs)
ROSTIME_DECL std::ostream &	operator<< (std::ostream &os, const SteadyTime &rhs)
ROSTIME_DECL std::ostream &	operator<< (std::ostream &os, const WallDuration &rhs)
ROSTIME_DECL std::ostream &	operator<< (std::ostream &os, const WallTime &rhs)
ROSCPP_DECL pollfd_vector_ptr	poll_sockets (int epfd, socket_pollfd *fds, nfds_t nfds, int timeout)
	A cross platform polling function for sockets. More...
ssize_t	read_signal (const signal_fd_t &signal, void *buffer, const size_t &nbyte)
ROSCPP_DECL void	removeROSArgs (int argc, const char *const *argv, V_string &args_out)
	returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name More...
ROSCPP_DECL void	requestShutdown ()
	Request that the node shut itself down from within a ROS thread. More...
int	ros_nanosleep (const uint32_t &sec, const uint32_t &nsec)
ROSTIME_DECL void	ros_steadytime (uint32_t &sec, uint32_t &nsec)
bool	ros_wallsleep (uint32_t sec, uint32_t nsec)
ROSTIME_DECL void	ros_walltime (uint32_t &sec, uint32_t &nsec)
ROSCPP_DECL void	set_events_on_socket (int epfd, int fd, int events)
ROSCPP_DECL int	set_non_blocking (socket_fd_t &socket)
bool	setLoggerLevel (roscpp::SetLoggerLevel::Request &req, roscpp::SetLoggerLevel::Response &)
ROSCPP_DECL void	shutdown ()
	Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that. More...
void	shutdownCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
ROSCPP_DECL void	spin ()
	Enter simple event loop. More...
ROSCPP_DECL void	spin (Spinner &spinner)
	Enter simple event loop. More...
ROSCPP_DECL void	spinOnce ()
	Process a single round of callbacks. More...
void	spinThread ()
ROSCPP_DECL void	start ()
	Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.). More...
const Time	TIME_MAX (std::numeric_limits< uint32_t >::max(), 999999999)
bool	urisEqual (const std::string &uri1, const std::string &uri2)
ROSCPP_DECL void	waitForShutdown ()
	Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar. More...
ssize_t	write_signal (const signal_fd_t &signal, const void *buffer, const size_t &nbyte)

Variables
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MAX
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
ROSTIME_DECL const Duration	DURATION_MIN
static bool	g_atexit_registered = false
CallbackQueuePtr	g_global_queue
static uint32_t	g_init_options = 0
static bool	g_initialized = false
static CallbackQueuePtr	g_internal_callback_queue
static boost::thread	g_internal_queue_thread
int32_t	g_nh_refcount = 0
boost::mutex	g_nh_refcount_mutex
bool	g_node_started_by_nh = false
static bool	g_ok = false
ROSOutAppender *	g_rosout_appender
static bool	g_shutdown_requested = false
static volatile bool	g_shutting_down = false
static boost::recursive_mutex	g_shutting_down_mutex
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static Time	g_sim_time (0, 0)
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_sim_time_mutex
static boost::mutex	g_start_mutex
static bool	g_started = false
static InternalTimerManagerPtr	g_timer_manager
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MAX
ROSTIME_DECL const Time	TIME_MIN
ROSTIME_DECL const Time	TIME_MIN
ROSTIME_DECL const Time	TIME_MIN
ROSTIME_DECL const Time	TIME_MIN
ROSTIME_DECL const Time	TIME_MIN
ROSTIME_DECL const Time	TIME_MIN
const Time	TIME_MIN (0, 1)
const Time	TIME_MIN (0, 1)
ROSTIME_DECL const Time	TIME_MIN
const Time	TIME_MIN (0, 1)
const Time	TIME_MIN (0, 1)
ROSTIME_DECL const Time	TIME_MIN
const Time	TIME_MIN (0, 1)
const Time	TIME_MIN (0, 1)
ROSTIME_DECL const Time	TIME_MIN
const Time	TIME_MIN (0, 1)
const Time	TIME_MIN (0, 1)
ROSTIME_DECL const Time	TIME_MIN
const Time	TIME_MIN (0, 1)
ROSTIME_DECL const Time	TIME_MIN
const Time	TIME_MIN (0, 1)
const Time	TIME_MIN (0, 1)
const Time	TIME_MIN (0, 1)
ROSTIME_DECL const Time	TIME_MIN

Detailed Description

Todo:

Locking can be significantly simplified here once the Node API goes away.

Typedef Documentation

typedef boost::shared_ptr<AsyncSpinnerImpl> ros::AsyncSpinnerImplPtr

Definition at line 82 of file spinner.h.

typedef boost::shared_ptr<ASyncXMLRPCConnection> ros::ASyncXMLRPCConnectionPtr

Definition at line 70 of file xmlrpc_manager.h.

typedef boost::shared_ptr< CallbackInterface > ros::CallbackInterfacePtr

Definition at line 74 of file callback_queue_interface.h.

typedef boost::shared_ptr<CallbackQueue> ros::CallbackQueuePtr

Definition at line 185 of file callback_queue.h.

typedef boost::shared_ptr< ConnectionManager > ros::ConnectionManagerPtr

Definition at line 41 of file connection_manager.h.

typedef boost::shared_ptr< Connection > ros::ConnectionPtr

Definition at line 57 of file connection.h.

typedef boost::function<bool(const ConnectionPtr&, const Header&)> ros::HeaderReceivedFunc

Definition at line 62 of file connection.h.

typedef init_options::InitOption ros::InitOption

Definition at line 66 of file init.h.

typedef TimerManager<SteadyTime, WallDuration, SteadyTimerEvent> ros::InternalTimerManager

Definition at line 38 of file internal_timer_manager.h.

typedef boost::shared_ptr<InternalTimerManager> ros::InternalTimerManagerPtr

Definition at line 40 of file internal_timer_manager.h.

typedef boost::shared_ptr< IntraProcessPublisherLink > ros::IntraProcessPublisherLinkPtr

Definition at line 73 of file intraprocess_publisher_link.h.

typedef boost::shared_ptr< IntraProcessSubscriberLink > ros::IntraProcessSubscriberLinkPtr

Definition at line 42 of file intraprocess_publisher_link.h.

typedef std::list<ServicePublicationPtr> ros::L_ServicePublication

Definition at line 83 of file forwards.h.

typedef std::list<ServiceServerLinkPtr> ros::L_ServiceServerLink

Definition at line 87 of file forwards.h.

typedef std::list<SubscriptionPtr> ros::L_Subscription

Definition at line 75 of file forwards.h.

typedef std::map<std::string, std::string> ros::M_string

Definition at line 47 of file message.h.

typedef boost::shared_ptr< MessageDeserializer > ros::MessageDeserializerPtr

Definition at line 61 of file message_deserializer.h.

typedef boost::shared_ptr<NodeHandle> ros::NodeHandlePtr

Definition at line 90 of file forwards.h.

typedef boost::shared_ptr<std::vector<socket_pollfd> > ros::pollfd_vector_ptr

Definition at line 141 of file io.h.

typedef boost::shared_ptr< PollManager > ros::PollManagerPtr

Definition at line 38 of file connection_manager.h.

typedef boost::shared_ptr< Publication > ros::PublicationPtr

Definition at line 66 of file forwards.h.

typedef boost::weak_ptr< Publication > ros::PublicationWPtr

Definition at line 58 of file rosout_appender.h.

typedef boost::shared_ptr< PublisherLink > ros::PublisherLinkPtr

Definition at line 78 of file forwards.h.

typedef boost::function<void(const ConnectionPtr&, const boost::shared_array<uint8_t>&, uint32_t, bool)> ros::ReadFinishedFunc

Definition at line 59 of file connection.h.

typedef std::set<ASyncXMLRPCConnectionPtr> ros::S_ASyncXMLRPCConnection

Definition at line 71 of file xmlrpc_manager.h.

typedef std::set<ConnectionPtr> ros::S_Connection

Definition at line 64 of file forwards.h.

typedef std::set<SubscriptionPtr> ros::S_Subscription

Definition at line 77 of file forwards.h.

typedef boost::shared_ptr<ServiceCallbackHelper> ros::ServiceCallbackHelperPtr

Definition at line 140 of file service_callback_helper.h.

typedef boost::shared_ptr< ServiceClientLink > ros::ServiceClientLinkPtr

Definition at line 84 of file service_client_link.h.

typedef boost::shared_ptr<ServiceClient> ros::ServiceClientPtr

Definition at line 211 of file service_client.h.

typedef boost::shared_ptr< ServiceManager > ros::ServiceManagerPtr

Definition at line 182 of file forwards.h.

typedef boost::shared_ptr< ServicePublication > ros::ServicePublicationPtr

Definition at line 81 of file forwards.h.

typedef boost::weak_ptr<ServicePublication> ros::ServicePublicationWPtr

Definition at line 43 of file service_client_link.h.

typedef boost::shared_ptr< ServiceServerLink > ros::ServiceServerLinkPtr

Definition at line 85 of file forwards.h.

typedef int ros::signal_fd_t

Definition at line 137 of file io.h.

typedef int ros::socket_fd_t

Definition at line 136 of file io.h.

typedef struct pollfd ros::socket_pollfd

Definition at line 138 of file io.h.

typedef boost::function<void(const SteadyTimerEvent&)> ros::SteadyTimerCallback

Definition at line 180 of file forwards.h.

typedef boost::shared_ptr<SubscriberCallbacks> ros::SubscriberCallbacksPtr

Definition at line 126 of file forwards.h.

typedef boost::shared_ptr< SubscriberLink > ros::SubscriberLinkPtr

Definition at line 69 of file forwards.h.

typedef boost::function<void(const SingleSubscriberPublisher&)> ros::SubscriberStatusCallback

Definition at line 94 of file forwards.h.

typedef boost::shared_ptr< SubscriptionCallbackHelper > ros::SubscriptionCallbackHelperPtr

Definition at line 42 of file message_deserializer.h.

typedef boost::shared_ptr<SubscriptionCallback> ros::SubscriptionCallbackPtr

Definition at line 50 of file subscription.h.

typedef boost::shared_ptr< Subscription > ros::SubscriptionPtr

Definition at line 72 of file forwards.h.

typedef boost::shared_ptr<SubscriptionQueue> ros::SubscriptionQueuePtr

Definition at line 53 of file subscription.h.

typedef boost::weak_ptr< Subscription > ros::SubscriptionWPtr

Definition at line 74 of file forwards.h.

typedef boost::function<void(const TimerEvent&)> ros::TimerCallback

Definition at line 144 of file forwards.h.

typedef boost::shared_ptr< TopicManager > ros::TopicManagerPtr

Definition at line 184 of file forwards.h.

typedef boost::shared_ptr< Transport > ros::TransportPtr

Definition at line 55 of file connection.h.

typedef boost::shared_ptr<TransportPublisherLink> ros::TransportPublisherLinkPtr

Definition at line 89 of file transport_publisher_link.h.

typedef boost::shared_ptr<TransportSubscriberLink> ros::TransportSubscriberLinkPtr

Definition at line 75 of file transport_subscriber_link.h.

typedef boost::shared_ptr< TransportTCP > ros::TransportTCPPtr

Definition at line 58 of file forwards.h.

typedef struct ros::TransportUDPHeader ros::TransportUDPHeader

typedef boost::shared_ptr< TransportUDP > ros::TransportUDPPtr

Definition at line 60 of file forwards.h.

typedef std::vector<ConnectionPtr> ros::V_Connection

Definition at line 65 of file forwards.h.

typedef std::vector<PublicationPtr> ros::V_Publication

Definition at line 68 of file forwards.h.

typedef std::vector<Publisher> ros::V_Publisher

Definition at line 199 of file publisher.h.

typedef std::vector<PublisherLinkPtr> ros::V_PublisherLink

Definition at line 80 of file forwards.h.

typedef std::vector<ServiceClientLinkPtr> ros::V_ServiceClientLink

Definition at line 50 of file service_publication.h.

typedef std::vector<ServicePublicationPtr> ros::V_ServicePublication

Definition at line 84 of file forwards.h.

typedef std::vector<ServiceServer> ros::V_ServiceServer

Definition at line 106 of file service_server.h.

typedef std::vector<Subscriber> ros::V_Subscriber

Definition at line 115 of file subscriber.h.

typedef std::vector< SubscriberLinkPtr > ros::V_SubscriberLink

Definition at line 71 of file forwards.h.

typedef std::vector<SubscriptionPtr> ros::V_Subscription

Definition at line 76 of file forwards.h.

typedef boost::shared_ptr<void const> ros::VoidConstPtr

Definition at line 52 of file forwards.h.

typedef boost::weak_ptr<void const> ros::VoidConstWPtr

Definition at line 53 of file forwards.h.

typedef boost::function<void(void)> ros::VoidFunc

Definition at line 46 of file poll_manager.h.

typedef boost::shared_ptr<void> ros::VoidPtr

Definition at line 50 of file forwards.h.

typedef boost::signals2::signal<void(void)> ros::VoidSignal

Definition at line 45 of file poll_manager.h.

typedef boost::weak_ptr<void> ros::VoidWPtr

Definition at line 51 of file forwards.h.

typedef boost::function<void(const WallTimerEvent&)> ros::WallTimerCallback

Definition at line 162 of file forwards.h.

typedef boost::function<void(const ConnectionPtr&)> ros::WriteFinishedFunc

Definition at line 60 of file connection.h.

typedef boost::shared_ptr<XMLRPCCallWrapper> ros::XMLRPCCallWrapperPtr

Definition at line 57 of file xmlrpc_manager.h.

typedef boost::function<void(XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue&)> ros::XMLRPCFunc

Definition at line 92 of file xmlrpc_manager.h.

typedef boost::shared_ptr< XMLRPCManager > ros::XMLRPCManagerPtr

Definition at line 188 of file forwards.h.

Function Documentation

void ros::add_socket_to_watcher	(	int	epfd,
		int	fd
	)

Definition at line 119 of file io.cpp.

void ros::atexitCallback

(

)

Definition at line 146 of file init.cpp.

void ros::basicSigintHandler

(

int

sig

)

Definition at line 270 of file init.cpp.

void ros::check_ipv6_environment

(

)

Definition at line 422 of file init.cpp.

void ros::checkForShutdown

(

)

Definition at line 120 of file init.cpp.

void ros::clockCallback

(

const rosgraph_msgs::Clock::ConstPtr &

msg

)

Definition at line 255 of file init.cpp.

void ros::close_signal_pair ( signal_fd_t  signal_pair[2] )

inline

Closes the signal pair - on windows we're using sockets (because windows select() function cant handle pipes). On linux, we're just using the pipes.

Parameters

signal_pair

: the signal pair type.

Definition at line 170 of file io.h.

int ros::close_socket

(

socket_fd_t &

socket

)

Close the socket.

Returns

int : 0 on success, -1 on failure.

Definition at line 392 of file io.cpp.

void ros::close_socket_watcher

(

int

fd

)

Definition at line 114 of file io.cpp.

bool ros::closeAllConnections	(	roscpp::Empty::Request &	,
		roscpp::Empty::Response &
	)

Definition at line 248 of file init.cpp.

void ros::closeTransport

(

const TransportUDPPtr &

trans

)

Definition at line 437 of file subscription.cpp.

int ros::create_signal_pair

(

signal_fd_t

signal_pair[2]

)

This code is primarily from the msdn socket tutorials.

Parameters

signal_pair

: a pair of sockets linked to each other over localhost.

Returns

0 on success, -1 on failure.

Definition at line 416 of file io.cpp.

int ros::create_socket_watcher

(

)

Definition at line 102 of file io.cpp.

template<typename M >

boost::shared_ptr<M> ros::defaultServiceCreateFunction ( )

inline

Definition at line 51 of file service_callback_helper.h.

void ros::del_socket_from_watcher	(	int	epfd,
		int	fd
	)

Definition at line 137 of file io.cpp.

CallbackQueue * ros::getGlobalCallbackQueue

(

)

Returns a pointer to the global default callback queue.

This is the queue that all callbacks get added to unless a different one is specified, either in the NodeHandle or in the individual NodeHandle::subscribe()/NodeHandle::advertise()/etc. functions.

Definition at line 568 of file init.cpp.

CallbackQueuePtr ros::getInternalCallbackQueue

(

)

Definition at line 260 of file init.cpp.

InternalTimerManagerPtr ros::getInternalTimerManager

(

)

Definition at line 36 of file internal_timer_manager.cpp.

bool ros::getLoggers	(	roscpp::GetLoggers::Request &	,
		roscpp::GetLoggers::Response &	resp
	)

Definition at line 172 of file init.cpp.

void ros::getPid	(	const XmlRpcValue &	params,
		XmlRpcValue &	result
	)

Definition at line 90 of file xmlrpc_manager.cpp.

std::string ros::getROSArg	(	int	argc,
		const char *const *	argv,
		const std::string &	arg
	)

searches the command line arguments for the given arg parameter. In case this argument is not found an empty string is returned.

Parameters

argc	the number of command-line arguments
argv	the command-line arguments
arg	argument to search for

Definition at line 517 of file init.cpp.

void ros::init	(	int &	argc,
		char **	argv,
		const std::string &	name,
		uint32_t	options = 0
	)

ROS initialization function.

This function will parse any ROS arguments (e.g., topic name remappings), and will consume them (i.e., argc and argv may be modified as a result of this call).

Use this version if you are using the NodeHandle API

Parameters

argc
argv
name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions

InvalidNodeNameException

If the name passed in is not a valid "base" name

Definition at line 470 of file init.cpp.

void ros::init	(	const M_string &	remappings,
		const std::string &	name,
		uint32_t	options = 0
	)

alternate ROS initialization function.

Parameters

remappings	A map<string, string> where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions

InvalidNodeNameException

If the name passed in is not a valid "base" name

Definition at line 435 of file init.cpp.

void ros::init	(	const VP_string &	remapping_args,
		const std::string &	name,
		uint32_t	options = 0
	)

alternate ROS initialization function.

Parameters

remappings	A vector<pair<string, string> > where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions

InvalidNodeNameException

If the name passed in is not a valid "base" name

Definition at line 504 of file init.cpp.

void ros::initInternalTimerManager

(

)

Definition at line 41 of file internal_timer_manager.cpp.

void ros::internalCallbackQueueThreadFunc

(

)

Definition at line 276 of file init.cpp.

bool ros::isInitialized

(

)

Returns whether or not ros::init() has been called.

Definition at line 110 of file init.cpp.

bool ros::isShuttingDown

(

)

Returns whether or not ros::shutdown() has been (or is being) called.

Definition at line 115 of file init.cpp.

bool ros::isStarted

(

)

Returns whether or not the node has been started through ros::start()

Definition at line 288 of file init.cpp.

int ros::last_socket_error

(

)

Definition at line 67 of file io.cpp.

bool ros::last_socket_error_is_would_block

(

)

Definition at line 86 of file io.cpp.

const char * ros::last_socket_error_string

(

)

Definition at line 74 of file io.cpp.

bool ros::md5sumsMatch	(	const std::string &	lhs,
		const std::string &	rhs
	)

Definition at line 193 of file topic_manager.cpp.

bool ros::ok

(

)

Check whether it's time to exit.

ok() becomes false once ros::shutdown() has been called and is finished

Returns

true if we're still OK, false if it's time to exit

Definition at line 573 of file init.cpp.

pollfd_vector_ptr ros::poll_sockets	(	int	epfd,
		socket_pollfd *	fds,
		nfds_t	nfds,
		int	timeout
	)

A cross platform polling function for sockets.

Windows doesn't have a polling function until Vista (WSAPoll) and even then its implementation is not supposed to be great. This works for a broader range of platforms and will suffice.

Parameters

epfd	- the socket watcher to poll on.
fds	- the socket set (descriptor's and events) to poll for.
nfds	- the number of descriptors to poll for.
timeout	- timeout in milliseconds.

Returns

pollfd_vector_ptr : NULL on error, empty on timeout, a list of structures with received events.

Definition at line 184 of file io.cpp.

ssize_t ros::read_signal ( const signal_fd_t &  signal, void *  buffer, const size_t &  nbyte  )

inline

Read from a signal_fd_t device. On windows we're using sockets (because windows select() function cant handle pipes) so we have to use socket functions. On linux, we're just using the pipes.

Definition at line 208 of file io.h.

void ros::removeROSArgs	(	int	argc,
		const char *const *	argv,
		V_string &	args_out
	)

returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name

Parameters

	argc	the number of command-line arguments
	argv	the command-line arguments
[out]	args_out	Output args, stripped of any ROS args

Definition at line 531 of file init.cpp.

void ros::requestShutdown

(

)

Request that the node shut itself down from within a ROS thread.

This method signals a ROS thread to call shutdown().

Definition at line 141 of file init.cpp.

void ros::set_events_on_socket	(	int	epfd,
		int	fd,
		int	events
	)

Definition at line 149 of file io.cpp.

int ros::set_non_blocking

(

socket_fd_t &

socket

)

Sets the socket as non blocking.

Returns

int : 0 on success, WSAGetLastError()/errno on failure.

Definition at line 371 of file io.cpp.

bool ros::setLoggerLevel	(	roscpp::SetLoggerLevel::Request &	req,
		roscpp::SetLoggerLevel::Response &
	)

Definition at line 209 of file init.cpp.

void ros::shutdown

(

)

Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that.

Definition at line 578 of file init.cpp.

void ros::shutdownCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

Definition at line 156 of file init.cpp.

void ros::spin

(

)

Enter simple event loop.

This method enters a loop, processing callbacks. This method should only be used if the NodeHandle API is being used.

This method is mostly useful when your node does all of its work in subscription callbacks. It will not process any callbacks that have been assigned to custom queues.

Definition at line 544 of file init.cpp.

void ros::spin

(

Spinner &

spinner

)

Enter simple event loop.

This method enters a loop, processing callbacks. This method should only be used if the NodeHandle API is being used.

This method is mostly useful when your node does all of its work in subscription callbacks. It will not process any callbacks that have been assigned to custom queues.

Parameters

spinner

a spinner to use to call callbacks. Two default implementations are available, SingleThreadedSpinner and MultiThreadedSpinner

Definition at line 550 of file init.cpp.

void ros::spinOnce

(

)

Process a single round of callbacks.

This method is useful if you have your own loop running and would like to process any callbacks that are available. This is equivalent to calling callAvailable() on the global CallbackQueue. It will not process any callbacks that have been assigned to custom queues.

Definition at line 555 of file init.cpp.

void ros::spinThread

(

)

Definition at line 147 of file node_handle.cpp.

void ros::start

(

)

Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.).

Usually unnecessary to call manually, as it is automatically called by the creation of the first NodeHandle if the node has not already been started. If you would like to prevent the automatic shutdown caused by the last NodeHandle going out of scope, call this before any NodeHandle has been created (e.g. immediately after init())

Definition at line 293 of file init.cpp.

bool ros::urisEqual	(	const std::string &	uri1,
		const std::string &	uri2
	)

Definition at line 197 of file subscription.cpp.

void ros::waitForShutdown

(

)

Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.

Definition at line 560 of file init.cpp.

ssize_t ros::write_signal ( const signal_fd_t &  signal, const void *  buffer, const size_t &  nbyte  )

inline

Write to a signal_fd_t device. On windows we're using sockets (because windows select() function cant handle pipes) so we have to use socket functions. On linux, we're just using the pipes.

Definition at line 191 of file io.h.

Variable Documentation

bool ros::g_atexit_registered = false

static

Definition at line 101 of file init.cpp.

CallbackQueuePtr ros::g_global_queue

Definition at line 95 of file init.cpp.

uint32_t ros::g_init_options = 0

static

Definition at line 104 of file init.cpp.

bool ros::g_initialized = false

static

Definition at line 99 of file init.cpp.

CallbackQueuePtr ros::g_internal_callback_queue

static

Definition at line 97 of file init.cpp.

boost::thread ros::g_internal_queue_thread

static

Definition at line 108 of file init.cpp.

int32_t ros::g_nh_refcount = 0

Definition at line 55 of file node_handle.cpp.

boost::mutex ros::g_nh_refcount_mutex

Definition at line 54 of file node_handle.cpp.

bool ros::g_node_started_by_nh = false

Definition at line 56 of file node_handle.cpp.

bool ros::g_ok = false

static

Definition at line 103 of file init.cpp.

ROSOutAppender* ros::g_rosout_appender

Definition at line 96 of file init.cpp.

bool ros::g_shutdown_requested = false

static

Definition at line 105 of file init.cpp.

volatile bool ros::g_shutting_down = false

static

Definition at line 106 of file init.cpp.

boost::recursive_mutex ros::g_shutting_down_mutex

static

Definition at line 107 of file init.cpp.

boost::mutex ros::g_start_mutex

static

Definition at line 102 of file init.cpp.

bool ros::g_started = false

static

Definition at line 100 of file init.cpp.

InternalTimerManagerPtr ros::g_timer_manager

static

Definition at line 34 of file internal_timer_manager.cpp.