cras::LoaderROS Class Reference

ROS interface for loading/unloading nodelets (internally using nodelet::Loader to do the work). More...

#include <loader_ros.h>

Public Member Functions
	LoaderROS (::nodelet::Loader *parent, const ::ros::NodeHandle &nh)
	Construct the ROS interface for the given loader. More...

Protected Types
typedef ::boost::ptr_map<::std::string, ::bond::Bond >	M_stringToBond
	Type of the map of nodelet name->bond. More...

Protected Member Functions
bool	serviceList (::nodelet::NodeletList::Request &req, ::nodelet::NodeletList::Response &res)
	List all loaded nodelets. More...
bool	serviceLoad (::nodelet::NodeletLoad::Request &req, ::nodelet::NodeletLoad::Response &res)
	Load a nodelet. More...
bool	serviceUnload (::nodelet::NodeletUnload::Request &req, ::nodelet::NodeletUnload::Response &res)
	Unload a nodelet. More...
bool	unload (const ::std::string &name)
	Unload a nodelet of the given name. More...

Protected Attributes
::ros::CallbackQueue	bond_callback_queue_
	Callback queue used for the created bonds. More...
M_stringToBond	bond_map_
	Map of nodelet name->bond. More...
::ros::AsyncSpinner	bond_spinner_
	Spinner of bond_callback_queue_. More...
::ros::ServiceServer	list_server_
	Service server for list service. More...
::ros::ServiceServer	load_server_
	Service server for load_nodelet service. More...
::boost::mutex	lock_
	Lock protecting access to parent_ and bond_map_. More...
::ros::NodeHandle	nh_
	The node handle to use for the advertised services. More...
::nodelet::Loader *	parent_
	The actual nodelet loader to use. More...
::ros::ServiceServer	unload_server_
	Service server for unload_nodelet service. More...

Detailed Description

ROS interface for loading/unloading nodelets (internally using nodelet::Loader to do the work).

Advertised services are:

• load_nodelet (nodelet/NodeletLoad): Load a nodelet.
• unload_nodelet (nodelet/NodeletUnload): Unload a nodelet.
• list (nodelet/NodeletList): List the names of all currently loaded nodelets.

Definition at line 64 of file loader_ros.h.

Member Typedef Documentation

M_stringToBond

typedef ::boost::ptr_map<::std::string, ::bond::Bond> cras::LoaderROS::M_stringToBond

protected

Type of the map of nodelet name->bond.

Definition at line 131 of file loader_ros.h.

Constructor & Destructor Documentation

LoaderROS()

cras::LoaderROS::LoaderROS	(	::nodelet::Loader *	parent,
		const ::ros::NodeHandle &	nh
	)

Construct the ROS interface for the given loader.

Parameters

[in]	parent	The loader to use for the actual nodelet loading/unloading.
[in]	nh	The node handle to use for the advertised services.

Member Function Documentation

serviceList()

bool cras::LoaderROS::serviceList ( ::nodelet::NodeletList::Request &  req, ::nodelet::NodeletList::Response &  res  )

protected

List all loaded nodelets.

Parameters

[in]	req	Unused.
[out]	res	The loaded nodelet names.

Returns

True.

serviceLoad()

bool cras::LoaderROS::serviceLoad ( ::nodelet::NodeletLoad::Request &  req, ::nodelet::NodeletLoad::Response &  res  )

protected

Load a nodelet.

Parameters

[in]	req	Parameters of the nodelet.
[out]	res	Whether the loading succeeded.

Returns

res.success.

serviceUnload()

bool cras::LoaderROS::serviceUnload ( ::nodelet::NodeletUnload::Request &  req, ::nodelet::NodeletUnload::Response &  res  )

protected

Unload a nodelet.

Parameters

[in]	req	Parameters of the nodelet.
[out]	res	Whether the unloading succeeded.

Returns

res.success.

unload()

bool cras::LoaderROS::unload ( const ::std::string &  name )

protected

Unload a nodelet of the given name.

Parameters

[in]

name

Name of the nodelet to unload.

Returns

Whether the unloading succeeded.

Member Data Documentation

bond_callback_queue_

::ros::CallbackQueue cras::LoaderROS::bond_callback_queue_

protected

Callback queue used for the created bonds.

Definition at line 125 of file loader_ros.h.

bond_map_

M_stringToBond cras::LoaderROS::bond_map_

protected

Map of nodelet name->bond.

Definition at line 134 of file loader_ros.h.

bond_spinner_

::ros::AsyncSpinner cras::LoaderROS::bond_spinner_

protected

Spinner of bond_callback_queue_.

Definition at line 128 of file loader_ros.h.

list_server_

::ros::ServiceServer cras::LoaderROS::list_server_

protected

Service server for list service.

Definition at line 119 of file loader_ros.h.

load_server_

::ros::ServiceServer cras::LoaderROS::load_server_

protected

Service server for load_nodelet service.

Definition at line 113 of file loader_ros.h.

lock_

::boost::mutex cras::LoaderROS::lock_

protected

Lock protecting access to parent_ and bond_map_.

Definition at line 122 of file loader_ros.h.

nh_

::ros::NodeHandle cras::LoaderROS::nh_

protected

The node handle to use for the advertised services.

Definition at line 110 of file loader_ros.h.

parent_

::nodelet::Loader* cras::LoaderROS::parent_

protected

The actual nodelet loader to use.

Definition at line 107 of file loader_ros.h.

unload_server_

::ros::ServiceServer cras::LoaderROS::unload_server_

protected

Service server for unload_nodelet service.

Definition at line 116 of file loader_ros.h.

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

• loader_ros.h