rosrt::Subscriber< M > Class Template Reference

A lock-free subscriber. Allows you to receive ROS messages inside a realtime thread. More...

#include <subscriber.h>

Public Member Functions
void	initialize (uint32_t message_pool_size)
	Initialize this subscribe. Only use with the default constructor. More...
bool	initialize (uint32_t message_pool_size, ros::NodeHandle &nh, const std::string &topic, const ros::TransportHints &transport_hints=ros::TransportHints())
	Initialize this subscribe. Only use with the default constructor. More...
boost::shared_ptr< M const >	poll ()
	Retrieve the newest message received. More...
bool	subscribe (ros::NodeHandle &nh, const std::string &topic, const ros::TransportHints &transport_hints=ros::TransportHints())
	Subscribe to a topic. More...
	Subscriber ()
	Default constructor. You must call initialize() before doing anything else if you use this constructor. More...
	Subscriber (uint32_t message_pool_size)
	Constructor with initialization. Call subscribe() to subscribe to a topic. More...
	Subscriber (uint32_t message_pool_size, ros::NodeHandle &nh, const std::string &topic, const ros::TransportHints &transport_hints=ros::TransportHints())
	Constructor with initialization and subscription. More...
	~Subscriber ()

Private Member Functions
void	callback (const boost::shared_ptr< M const > &msg)

Private Attributes
ros::atomic< M const * >	latest_
lockfree::ObjectPool< M > *	pool_
ros::Subscriber	sub_

Detailed Description

template<typename M>
class rosrt::Subscriber< M >

A lock-free subscriber. Allows you to receive ROS messages inside a realtime thread.

This subscriber works in a polling manner rather than the usual callback-based mechanism, e.g.:

Subscriber<Msg> sub(2, nh, "my_topic");
while (true)
{
  MsgConstPtr msg = sub.poll();
  if (msg)
  {
    // do something with msg
    ...
  }
}

Definition at line 75 of file subscriber.h.

Constructor & Destructor Documentation

template<typename M>

rosrt::Subscriber< M >::Subscriber ( )

inline

Default constructor. You must call initialize() before doing anything else if you use this constructor.

Definition at line 81 of file subscriber.h.

template<typename M>

rosrt::Subscriber< M >::Subscriber ( uint32_t  message_pool_size )

inline

Constructor with initialization. Call subscribe() to subscribe to a topic.

Parameters

message_pool_size

The size of the message pool to use. If this pool fills up no more messages will be received until some messages are freed.

Definition at line 91 of file subscriber.h.

template<typename M>

rosrt::Subscriber< M >::Subscriber ( uint32_t  message_pool_size, ros::NodeHandle &  nh, const std::string &  topic, const ros::TransportHints &  transport_hints = ros::TransportHints()  )

inline

Constructor with initialization and subscription.

Parameters

message_pool_size	The size of the message pool to use. If this pool fills up no more messages will be received until some messages are freed.
nh	The ros::NodeHandle to use to subscribe
topic	The topic to subscribe on
[optional]	transport_hints the transport hints to use

Definition at line 105 of file subscriber.h.

template<typename M>

rosrt::Subscriber< M >::~Subscriber ( )

inline

Definition at line 112 of file subscriber.h.

Member Function Documentation

template<typename M>

void rosrt::Subscriber< M >::callback ( const boost::shared_ptr< M const > &  msg )

inlineprivate

Definition at line 201 of file subscriber.h.

template<typename M>

void rosrt::Subscriber< M >::initialize ( uint32_t  message_pool_size )

inline

Initialize this subscribe. Only use with the default constructor.

Parameters

message_pool_size

The size of the message pool to use. If this pool fills up no more messages will be received until some messages are freed.

Definition at line 128 of file subscriber.h.

template<typename M>

bool rosrt::Subscriber< M >::initialize ( uint32_t  message_pool_size, ros::NodeHandle &  nh, const std::string &  topic, const ros::TransportHints &  transport_hints = ros::TransportHints()  )

inline

Initialize this subscribe. Only use with the default constructor.

Parameters

message_pool_size	The size of the message pool to use. If this pool fills up no more messages will be received until some messages are freed.
nh	The ros::NodeHandle to use to subscribe
topic	The topic to subscribe on
[optional]	transport_hints the transport hints to use

Returns

Whether or not we successfully subscribed

Definition at line 146 of file subscriber.h.

template<typename M>

boost::shared_ptr<M const> rosrt::Subscriber< M >::poll ( )

inline

Retrieve the newest message received.

The same message will only be returned once, i.e:

<msg received>
msg = poll(); // Returns a valid message
msg = poll(); // Returns NULL

Definition at line 182 of file subscriber.h.

template<typename M>

bool rosrt::Subscriber< M >::subscribe ( ros::NodeHandle &  nh, const std::string &  topic, const ros::TransportHints &  transport_hints = ros::TransportHints()  )

inline

Subscribe to a topic.

Parameters

nh	The ros::NodeHandle to use to subscribe
topic	The topic to subscribe on
[optional]	transport_hints the transport hints to use

Returns

Whether or not we successfully subscribed

Definition at line 159 of file subscriber.h.

Member Data Documentation

template<typename M>

ros::atomic<M const*> rosrt::Subscriber< M >::latest_

private

Definition at line 230 of file subscriber.h.

template<typename M>

lockfree::ObjectPool<M>* rosrt::Subscriber< M >::pool_

private

Definition at line 232 of file subscriber.h.

template<typename M>

ros::Subscriber rosrt::Subscriber< M >::sub_

private

Definition at line 233 of file subscriber.h.

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

• subscriber.h