topic.cpp
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34 
35 #include "ros/topic.h"
36 #include "ros/callback_queue.h"
37 
38 namespace ros
39 {
40 namespace topic
41 {
42 
43 void waitForMessageImpl(SubscribeOptions& ops,
44  const boost::function<bool(void)>& ready_pred,
45  NodeHandle& nh, ros::Duration timeout)
46 {
47  ros::CallbackQueue queue;
48  ops.callback_queue = &queue;
49 
50  ros::Subscriber sub = nh.subscribe(ops);
51 
52  ros::Time end = ros::Time::now() + timeout;
53  while (!ready_pred() && nh.ok())
54  {
55  queue.callAvailable(ros::WallDuration(0.1));
56 
57  if (!timeout.isZero() && ros::Time::now() >= end)
58  {
59  return;
60  }
61  }
62 }
63 
64 } // namespace topic
65 } // namespace ros
ros::Subscriber
Manages an subscription callback on a specific topic.
Definition: subscriber.h:46
ros::CallbackQueue
This is the default implementation of the ros::CallbackQueueInterface.
Definition: callback_queue.h:57
ros::NodeHandle::subscribe
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
Subscribe to a topic, version for class member function with bare pointer.
Definition: node_handle.h:402
ros::CallbackQueue::callAvailable
void callAvailable()
Invoke all callbacks currently in the queue. If a callback was not ready to be called, pushes it back onto the queue.
Definition: callback_queue.h:96
ros::SubscribeOptions
Encapsulates all options available for creating a Subscriber.
Definition: subscribe_options.h:43
ros::NodeHandle
roscpp&#39;s interface for creating subscribers, publishers, etc.
Definition: node_handle.h:87
ros::Time::now
static Time now()
ros::topic::waitForMessageImpl
ROSCPP_DECL void waitForMessageImpl(SubscribeOptions &ops, const boost::function< bool(void)> &ready_pred, NodeHandle &nh, ros::Duration timeout)
Internal method, do not use.
Definition: topic.cpp:43
ros::NodeHandle::ok
bool ok() const
Check whether it&#39;s time to exit.
Definition: node_handle.cpp:798
callback_queue.h
ros::SubscribeOptions::callback_queue
CallbackQueueInterface * callback_queue
Queue to add callbacks to. If NULL, the global callback queue will be used.
Definition: subscribe_options.h:123

roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim, Dirk Thomas
autogenerated on Mon Nov 2 2020 03:52:26