message_filters subscriber that can subscribe to various topic types and convert them all to an Azimuth message. More...

#include <message_filter.h>

Inheritance diagram for compass_conversions::UniversalAzimuthSubscriber:

[legend]

Public Types
typedef ros::MessageEvent< topic_tools::ShapeShifter const >	EventType

Public Types inherited from message_filters::SimpleFilter< compass_msgs::Azimuth >
typedef boost::function< void(const MConstPtr &)>	Callback

typedef boost::function< void(const EventType &)>	EventCallback

typedef ros::MessageEvent< M const >	EventType

typedef boost::shared_ptr< M const >	MConstPtr

Public Member Functions
void	add (const EventType &event)

void	configFromParams (const cras::BoundParamHelper &params)
	Configure the subscriber from ROS parameters. More...

template<typename F >
void	connectInput (F &f)

const ros::Subscriber &	getSubscriber () const
	Returns the internal ros::Subscriber. More...

std::string	getTopic () const
	Get the name of the subscribed topic. More...

void	setInputDefaults (const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &orientation, const cras::optional< decltype(compass_msgs::Azimuth::reference)> &reference, const cras::optional< decltype(compass_msgs::Azimuth::variance)> &variance)
	Set defaults for inputs which do not support autodetection of various azimuth properties. More...

void	subscribe () override
	Re-subscribe to a topic. More...

void	subscribe (ros::NodeHandle &nh, const std::string &topic, uint32_t queueSize, const ros::TransportHints &transportHints, ros::CallbackQueueInterface *callbackQueue) override
	Subscribe to a topic. More...

	UniversalAzimuthSubscriber (const cras::LogHelperPtr &log, ros::NodeHandle &nh, const std::string &topic, uint32_t queueSize, const ros::TransportHints &transportHints={}, ros::CallbackQueueInterface *callbackQueue=nullptr)
	Constructor. More...

void	unsubscribe () override
	Unsubscribe from the topic. More...

	~UniversalAzimuthSubscriber () override

Public Member Functions inherited from message_filters::SimpleFilter< compass_msgs::Azimuth >
const std::string &	getName ()

Connection	registerCallback (const boost::function< void(P)> &callback)

Connection	registerCallback (const C &callback)

Connection	registerCallback (void(*callback)(P))

Connection	registerCallback (void(T::callback)(P), T t)

void	setName (const std::string &name)

Public Member Functions inherited from message_filters::SubscriberBase
virtual	~SubscriberBase ()

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Protected Member Functions
void	cb (const EventType &event)

Protected Member Functions inherited from message_filters::SimpleFilter< compass_msgs::Azimuth >
void	signalMessage (const MConstPtr &msg)

void	signalMessage (const ros::MessageEvent< M const > &event)

Protected Attributes
CompassConverter	converter
	The azimuth message converter. More...

cras::optional< decltype(compass_msgs::Azimuth::orientation)>	inputOrientation
	Orientation of the input azimuth (in case it is a data type which does not tell orientation explicitly). More...

cras::optional< decltype(compass_msgs::Azimuth::reference)>	inputReference
	Reference of the input azimuth (in case it is a data type which does not tell reference explicitly). More...

cras::optional< decltype(compass_msgs::Azimuth::variance)>	inputVariance
	Variance of the input azimuth (in case it is a data type which does not tell reference explicitly). More...

ros::NodeHandle	nh
	The nodehandle to use for subscribing,. More...

ros::Subscriber	sub
	The ROS subscriber. More...

ros::SubscribeOptions	subscribeOps
	Options for recreating the subscriber. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Detailed Description

message_filters subscriber that can subscribe to various topic types and convert them all to an Azimuth message.

Currently supported types are: compass_msgs::Azimuth, geometry_msgs::PoseWithCovarianceStamped, geometry_msgs::QuaternionStamped, sensor_msgs::Imu.

Definition at line 44 of file message_filter.h.

Member Typedef Documentation

◆ EventType

typedef ros::MessageEvent<topic_tools::ShapeShifter const> compass_conversions::UniversalAzimuthSubscriber::EventType

Definition at line 49 of file message_filter.h.

Constructor & Destructor Documentation

◆ UniversalAzimuthSubscriber()

compass_conversions::UniversalAzimuthSubscriber::UniversalAzimuthSubscriber	(	const cras::LogHelperPtr &	log,
		ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	queueSize,
		const ros::TransportHints &	transportHints = `{}`,
		ros::CallbackQueueInterface *	callbackQueue = `nullptr`
	)

Constructor.

Parameters

log	Logger.
nh	The ros::NodeHandle to use for subscribing.
topic	The topic to subscribe to.
queueSize	Queue size of the subscription.
transportHints	The transport hints to pass to the subscriber.
callbackQueue	The callback queue to attach to.

◆ ~UniversalAzimuthSubscriber()

compass_conversions::UniversalAzimuthSubscriber::~UniversalAzimuthSubscriber ( )

override

Member Function Documentation

◆ add()

void compass_conversions::UniversalAzimuthSubscriber::add ( const EventType & event )

◆ cb()

void compass_conversions::UniversalAzimuthSubscriber::cb ( const EventType & event )

protected

◆ configFromParams()

void compass_conversions::UniversalAzimuthSubscriber::configFromParams ( const cras::BoundParamHelper & params )

Configure the subscriber from ROS parameters.

Parameters

[in] params ROS parameters.

Supported parameters:

~input_orientation (str, 'enu' or 'ned', default: unspecified): ENU or NED orientation to be used to interpret input messages (in case orientation cannot be derived either from message contents or topic name).
~input_reference (str, 'magnetic', 'geographic' or 'UTM', default: no change): North reference to be used to interpret input messages (in case reference cannot be derived either from message contents or topic name).
~input_variance (double, optional, rad^2): If specified, this variance will be used in the output messages if variance cannot be determined from the input messages (e.g. for QuaternionStamped).

◆ connectInput()

template<typename F >

void compass_conversions::UniversalAzimuthSubscriber::connectInput ( F & f )

inline

Definition at line 135 of file message_filter.h.

◆ getSubscriber()

const ros::Subscriber& compass_conversions::UniversalAzimuthSubscriber::getSubscriber ( ) const

Returns the internal ros::Subscriber.

◆ getTopic()

std::string compass_conversions::UniversalAzimuthSubscriber::getTopic ( ) const

Get the name of the subscribed topic.

Returns: The topic name.

◆ setInputDefaults()

void compass_conversions::UniversalAzimuthSubscriber::setInputDefaults	(	const cras::optional< decltype(compass_msgs::Azimuth::orientation)> &	orientation,
		const cras::optional< decltype(compass_msgs::Azimuth::reference)> &	reference,
		const cras::optional< decltype(compass_msgs::Azimuth::variance)> &	variance
	)

Set defaults for inputs which do not support autodetection of various azimuth properties.

Parameters

[in]	orientation	The default orientation used if it cannot be detected.
[in]	reference	The reference used if it cannot be detected.
[in]	variance	Default variance used for topics which cannot automatically discover it.

◆ subscribe() [1/2]

void compass_conversions::UniversalAzimuthSubscriber::subscribe ( )

overridevirtual

Re-subscribe to a topic.

Implements message_filters::SubscriberBase.

◆ subscribe() [2/2]

void compass_conversions::UniversalAzimuthSubscriber::subscribe	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	queueSize,
		const ros::TransportHints &	transportHints,
		ros::CallbackQueueInterface *	callbackQueue
	)

overridevirtual

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters

nh	The ros::NodeHandle to use for subscribing.
topic	The topic to subscribe to.
queueSize	Queue size of the subscription.
transportHints	The transport hints to pass to the subscriber.
callbackQueue	The callback queue to attach to.

Implements message_filters::SubscriberBase.

◆ unsubscribe()

void compass_conversions::UniversalAzimuthSubscriber::unsubscribe ( )

overridevirtual

Unsubscribe from the topic.

Implements message_filters::SubscriberBase.

Member Data Documentation

◆ converter

CompassConverter compass_conversions::UniversalAzimuthSubscriber::converter

protected

The azimuth message converter.

Definition at line 147 of file message_filter.h.

◆ inputOrientation

cras::optional<decltype(compass_msgs::Azimuth::orientation)> compass_conversions::UniversalAzimuthSubscriber::inputOrientation

protected

Orientation of the input azimuth (in case it is a data type which does not tell orientation explicitly).

Definition at line 150 of file message_filter.h.

◆ inputReference

cras::optional<decltype(compass_msgs::Azimuth::reference)> compass_conversions::UniversalAzimuthSubscriber::inputReference

protected

Reference of the input azimuth (in case it is a data type which does not tell reference explicitly).

Definition at line 153 of file message_filter.h.

◆ inputVariance

cras::optional<decltype(compass_msgs::Azimuth::variance)> compass_conversions::UniversalAzimuthSubscriber::inputVariance

protected

Variance of the input azimuth (in case it is a data type which does not tell reference explicitly).

Definition at line 156 of file message_filter.h.

◆ nh

ros::NodeHandle compass_conversions::UniversalAzimuthSubscriber::nh

protected

The nodehandle to use for subscribing,.

Definition at line 146 of file message_filter.h.

◆ sub

ros::Subscriber compass_conversions::UniversalAzimuthSubscriber::sub

protected

The ROS subscriber.

Definition at line 144 of file message_filter.h.

◆ subscribeOps

ros::SubscribeOptions compass_conversions::UniversalAzimuthSubscriber::subscribeOps

protected

Options for recreating the subscriber.

Definition at line 145 of file message_filter.h.

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

message_filter.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ EventType

Constructor & Destructor Documentation

◆ UniversalAzimuthSubscriber()

◆ ~UniversalAzimuthSubscriber()

Member Function Documentation

◆ add()

◆ cb()

◆ configFromParams()

◆ connectInput()

◆ getSubscriber()

◆ getTopic()

◆ setInputDefaults()

◆ subscribe() [1/2]

◆ subscribe() [2/2]

◆ unsubscribe()

Member Data Documentation

◆ converter

◆ inputOrientation

◆ inputReference

◆ inputVariance

◆ nh

◆ sub

◆ subscribeOps