ros::master Namespace Reference

Contains functions which allow you to query information about the master. More...

Classes
struct	TopicInfo
	Contains information retrieved from the master about a topic. More...

Typedefs
typedef std::vector< TopicInfo >	V_TopicInfo

Functions
ROSCPP_DECL bool	check ()
	Check whether the master is up. More...
ROSCPP_DECL bool	execute (const std::string &method, const XmlRpc::XmlRpcValue &request, XmlRpc::XmlRpcValue &response, XmlRpc::XmlRpcValue &payload, bool wait_for_master)
	Execute an XMLRPC call on the master. More...
ROSCPP_DECL const std::string &	getHost ()
	Get the hostname where the master runs. More...
ROSCPP_DECL bool	getNodes (V_string &nodes)
	Retreives the currently-known list of nodes from the master. More...
ROSCPP_DECL uint32_t	getPort ()
	Get the port where the master runs. More...
ROSCPP_DECL bool	getTopics (V_TopicInfo &topics)
	Get the list of topics that are being published by all nodes. More...
ROSCPP_DECL const std::string &	getURI ()
	Get the full URI to the master (eg. http://host:port/) More...
void	init (const M_string &remappings)
ROSCPP_DECL void	setRetryTimeout (ros::WallDuration timeout)
	Set the max time this node should spend looping trying to connect to the master. More...

Variables
std::string	g_host
uint32_t	g_port = 0
ros::WallDuration	g_retry_timeout
std::string	g_uri

Detailed Description

Contains functions which allow you to query information about the master.

Typedef Documentation

typedef std::vector<TopicInfo> ros::master::V_TopicInfo

Definition at line 99 of file master.h.

Function Documentation

bool ros::master::check

(

)

Check whether the master is up.

This method tries to contact the master. You can call it any time after ros::init has been called. The intended usage is to check whether the master is up before trying to make other requests (subscriptions, advertisements, etc.).

Returns

true if the master is available, false otherwise.

Definition at line 119 of file master.cpp.

bool ros::master::execute	(	const std::string &	method,
		const XmlRpc::XmlRpcValue &	request,
		XmlRpc::XmlRpcValue &	response,
		XmlRpc::XmlRpcValue &	payload,
		bool	wait_for_master
	)

Execute an XMLRPC call on the master.

Parameters

method	The RPC method to invoke
request	The arguments to the RPC call
response	[out] The resonse that was received.
payload	[out] The payload that was received.
wait_for_master	Whether or not this call should loop until it can contact the master

Returns

true if call succeeds, false otherwise.

Definition at line 179 of file master.cpp.

const std::string & ros::master::getHost

(

)

Get the hostname where the master runs.

Returns

The master's hostname, as a string

Definition at line 94 of file master.cpp.

bool ros::master::getNodes

(

V_string &

nodes

)

Retreives the currently-known list of nodes from the master.

Definition at line 146 of file master.cpp.

uint32_t ros::master::getPort

(

)

Get the port where the master runs.

Returns

The master's port.

Definition at line 99 of file master.cpp.

bool ros::master::getTopics

(

V_TopicInfo &

topics

)

Get the list of topics that are being published by all nodes.

This method communicates with the master to retrieve the list of all currently advertised topics.

Parameters

topics

A place to store the resulting list. Each item in the list is a pair <string topic, string type>. The type is represented in the format "package_name/MessageName", and is also retrievable through message.__getDataType() or MessageName::__s_getDataType().

Returns

true on success, false otherwise (topics not filled in)

Definition at line 126 of file master.cpp.

const std::string & ros::master::getURI

(

)

Get the full URI to the master (eg. http://host:port/)

Definition at line 104 of file master.cpp.

void ros::master::init

(

const M_string &

remappings

)

Definition at line 50 of file master.cpp.

void ros::master::setRetryTimeout

(

ros::WallDuration

timeout

)

Set the max time this node should spend looping trying to connect to the master.

Parameters

The	timeout. A negative value means infinite

Definition at line 109 of file master.cpp.

Variable Documentation

std::string ros::master::g_host

Definition at line 46 of file master.cpp.

uint32_t ros::master::g_port = 0

Definition at line 45 of file master.cpp.

ros::WallDuration ros::master::g_retry_timeout

Definition at line 48 of file master.cpp.

std::string ros::master::g_uri

Definition at line 47 of file master.cpp.