#include <realtime_publisher.h>

Inheritance diagram for realtime_tools::RealtimePublisher< Msg >:

Public Member Functions
void	init (const ros::NodeHandle &node, const std::string &topic, int queue_size, bool latched=false)

void	lock ()
	Get the data lock form non-realtime. More...

	RealtimePublisher (const ros::NodeHandle &node, const std::string &topic, int queue_size, bool latched=false)
	Constructor for the realtime publisher. More...

	RealtimePublisher ()

void	stop ()
	Stop the realtime publisher from sending out more ROS messages. More...

bool	trylock ()
	Try to get the data lock from realtime. More...

void	unlock ()
	Unlocks the data without publishing anything. More...

void	unlockAndPublish ()
	Unlock the msg_ variable. More...

	~RealtimePublisher ()
	Destructor. More...

Public Attributes
Msg	msg_
	The msg_ variable contains the data that will get published on the ROS topic. More...

Private Types
enum	{ REALTIME, NON_REALTIME }

Private Member Functions
void	construct (int queue_size, bool latched=false)

bool	is_running () const

void	publishingLoop ()

Private Attributes
volatile bool	is_running_

volatile bool	keep_running_

boost::mutex	msg_mutex_

ros::NodeHandle	node_

ros::Publisher	publisher_

boost::thread	thread_

std::string	topic_

int	turn_

Detailed Description

template<class Msg>
class realtime_tools::RealtimePublisher< Msg >

Definition at line 51 of file realtime_publisher.h.

Member Enumeration Documentation

template<class Msg >

anonymous enum

private

Enumerator
REALTIME
NON_REALTIME

Definition at line 226 of file realtime_publisher.h.

Constructor & Destructor Documentation

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::RealtimePublisher	(	const ros::NodeHandle &	node,
		const std::string &	topic,
		int	queue_size,
		bool	latched = `false`
	)

inline

Constructor for the realtime publisher.

Parameters

node	the nodehandle that specifies the namespace (or prefix) that is used to advertise the ROS topic
topic	the topic name to advertise
queue_size	the size of the outgoing ROS buffer
latched	. optional argument (defaults to false) to specify is publisher is latched or not

Definition at line 65 of file realtime_publisher.h.

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::RealtimePublisher ( )

inline

Definition at line 71 of file realtime_publisher.h.

template<class Msg >

realtime_tools::RealtimePublisher< Msg >::~RealtimePublisher ( )

inline

Destructor.

Definition at line 77 of file realtime_publisher.h.

Member Function Documentation

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::construct	(	int	queue_size,
		bool	latched = `false`
	)

inlineprivate

Definition at line 169 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::init	(	const ros::NodeHandle &	node,
		const std::string &	topic,
		int	queue_size,
		bool	latched = `false`
	)

inline

Definition at line 86 of file realtime_publisher.h.

template<class Msg >

bool realtime_tools::RealtimePublisher< Msg >::is_running ( ) const

inlineprivate

Definition at line 177 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::lock ( )

inline

Get the data lock form non-realtime.

To publish data from the realtime loop, you need to run trylock to attempt to get unique access to the msg_ variable. Trylock returns true if the lock was aquired, and false if it failed to get the lock.

Definition at line 149 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::publishingLoop ( )

inlineprivate

Definition at line 179 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::stop ( )

inline

Stop the realtime publisher from sending out more ROS messages.

Definition at line 94 of file realtime_publisher.h.

template<class Msg >

bool realtime_tools::RealtimePublisher< Msg >::trylock ( )

inline

Try to get the data lock from realtime.

To publish data from the realtime loop, you need to run trylock to attempt to get unique access to the msg_ variable. Trylock returns true if the lock was aquired, and false if it failed to get the lock.

Definition at line 108 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::unlock ( )

inline

Unlocks the data without publishing anything.

Definition at line 163 of file realtime_publisher.h.

template<class Msg >

void realtime_tools::RealtimePublisher< Msg >::unlockAndPublish ( )

inline

Unlock the msg_ variable.

After a successful trylock and after the data is written to the mgs_ variable, the lock has to be released for the message to get published on the specified topic.

Definition at line 134 of file realtime_publisher.h.