Utils for adding diagnostics to a topic via node handle. More...

#include <node_handle_with_diagnostics.h>

Inheritance diagram for cras::NodeHandleWithDiagnostics:

[legend]

Public Member Functions
template<class Message >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, const size_t queueSize, const bool latch=false)
	Advertise publication of a message, automatically adding diagnostics to it. More...

template<class Message >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise publication of a message, automatically adding diagnostics to it. More...

template<class Message >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, const ::std::string &topic, const size_t queueSize, const bool latch=false)
	Advertise publication of a message, automatically adding diagnostics to it. More...

template<class Message >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise publication of a message, automatically adding diagnostics to it. More...

template<class Message >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &topic, const size_t queueSize, const bool latch=false)
	Advertise publication of a message, automatically adding diagnostics to it. More...

template<class Message >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::diagnostic_updater::Updater &updater, ::ros::AdvertiseOptions &options)
	Advertise publication of a message, automatically adding diagnostics to it. More...

	NodeHandleWithDiagnostics (const ::std::string &ns="", const ::ros::M_string &remappings={})
	Create the node handle using the passed ROS node handle parameters. More...

	NodeHandleWithDiagnostics (const ::ros::NodeHandle &parent, const ::std::string &ns)
	Create the node handle using the passed ROS node handle parameters. More...

	NodeHandleWithDiagnostics (const ::ros::NodeHandle &parent, const ::std::string &ns, const ::ros::M_string &remappings)
	Create the node handle using the passed ROS node handle parameters. More...

template<typename M , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(*cb)(M), ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const boost::function< void(const ::boost::shared_ptr< Message > &)> &cb, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename C , typename = ::std::enable_if_t<::cras::IsMessageParam<C>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< C >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const boost::function< void(C)> &cb, ::ros::VoidConstPtr obj={}, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M), T obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M) const, T obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M), const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M) const, const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::SubscribeOptions &options)
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(*cb)(M), ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const boost::function< void(const ::boost::shared_ptr< Message > &)> &cb, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename C , typename = ::std::enable_if_t<::cras::IsMessageParam<C>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const boost::function< void(C)> &cb, ::ros::VoidConstPtr obj={}, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M), T obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M) const, T obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M), const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M) const, const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &diagNamespace, ::ros::SubscribeOptions &options)
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &topic, uint32_t queue_size, void(*cb)(M), ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &topic, uint32_t queue_size, const boost::function< void(const ::boost::shared_ptr< Message > &)> &cb, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename C , typename = ::std::enable_if_t<::cras::IsMessageParam<C>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &topic, uint32_t queue_size, const boost::function< void(C)> &cb, ::ros::VoidConstPtr obj={}, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M), T obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M) const, T obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M), const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M) const, const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::diagnostic_updater::Updater &updater, ::ros::SubscribeOptions &options)
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

Public Member Functions inherited from cras::NodeParamHelper
	NodeParamHelper (const ::std::string &ns="", const ::ros::M_string &remappings={})

	NodeParamHelper (const ::ros::NodeHandle &parent, const ::std::string &ns)

	NodeParamHelper (const ::ros::NodeHandle &parent, const ::std::string &ns, const ::ros::M_string &remappings)

Public Member Functions inherited from ros::NodeHandle
Publisher	advertise (const std::string &topic, uint32_t queue_size, bool latch=false)

Publisher	advertise (const std::string &topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const VoidConstPtr &tracked_object=VoidConstPtr(), bool latch=false)

Publisher	advertise (AdvertiseOptions &ops)

ServiceServer	advertiseService (const std::string &service, bool(T::srv_func)(MReq &, MRes &), T obj)

ServiceServer	advertiseService (const std::string &service, bool(*srv_func)(MReq &, MRes &))

ServiceServer	advertiseService (const std::string &service, bool(*srv_func)(ServiceEvent< MReq, MRes > &))

ServiceServer	advertiseService (const std::string &service, bool(T::srv_func)(ServiceEvent< MReq, MRes > &), T obj)

ServiceServer	advertiseService (const std::string &service, const boost::function< bool(MReq &, MRes &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr())

ServiceServer	advertiseService (const std::string &service, const boost::function< bool(S &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr())

ServiceServer	advertiseService (const std::string &service, bool(T::*srv_func)(MReq &, MRes &), const boost::shared_ptr< T > &obj)

ServiceServer	advertiseService (AdvertiseServiceOptions &ops)

ServiceServer	advertiseService (const std::string &service, bool(T::*srv_func)(ServiceEvent< MReq, MRes > &), const boost::shared_ptr< T > &obj)

SteadyTimer	createSteadyTimer (SteadyTimerOptions &ops) const

SteadyTimer	createSteadyTimer (WallDuration period, void(T::callback)(const SteadyTimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

SteadyTimer	createSteadyTimer (WallDuration period, void(T::*callback)(const SteadyTimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

SteadyTimer	createSteadyTimer (WallDuration period, const SteadyTimerCallback &callback, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Rate r, Handler h, Obj o, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::callback)(const TimerEvent &) const, T obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::callback)(const TimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::*callback)(const TimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, const TimerCallback &callback, bool oneshot=false, bool autostart=true) const

Timer	createTimer (TimerOptions &ops) const

WallTimer	createWallTimer (WallDuration period, void(T::callback)(const WallTimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallDuration period, void(T::*callback)(const WallTimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallDuration period, const WallTimerCallback &callback, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallTimerOptions &ops) const

bool	deleteParam (const std::string &key) const

CallbackQueueInterface *	getCallbackQueue () const

const std::string &	getNamespace () const

bool	getParam (const std::string &key, float &f) const

bool	getParam (const std::string &key, int &i) const

bool	getParam (const std::string &key, bool &b) const

bool	getParam (const std::string &key, XmlRpc::XmlRpcValue &v) const

bool	getParam (const std::string &key, std::vector< std::string > &vec) const

bool	getParam (const std::string &key, std::vector< double > &vec) const

bool	getParam (const std::string &key, std::vector< float > &vec) const

bool	getParam (const std::string &key, std::vector< int > &vec) const

bool	getParam (const std::string &key, std::vector< bool > &vec) const

bool	getParam (const std::string &key, std::map< std::string, std::string > &map) const

bool	getParam (const std::string &key, std::map< std::string, double > &map) const

bool	getParam (const std::string &key, std::map< std::string, float > &map) const

bool	getParam (const std::string &key, std::map< std::string, int > &map) const

bool	getParam (const std::string &key, std::map< std::string, bool > &map) const

bool	getParam (const std::string &key, std::string &s) const

bool	getParam (const std::string &key, double &d) const

bool	getParamCached (const std::string &key, std::string &s) const

bool	getParamCached (const std::string &key, double &d) const

bool	getParamCached (const std::string &key, float &f) const

bool	getParamCached (const std::string &key, int &i) const

bool	getParamCached (const std::string &key, bool &b) const

bool	getParamCached (const std::string &key, XmlRpc::XmlRpcValue &v) const

bool	getParamCached (const std::string &key, std::map< std::string, float > &map) const

bool	getParamCached (const std::string &key, std::vector< std::string > &vec) const

bool	getParamCached (const std::string &key, std::vector< double > &vec) const

bool	getParamCached (const std::string &key, std::vector< float > &vec) const

bool	getParamCached (const std::string &key, std::vector< int > &vec) const

bool	getParamCached (const std::string &key, std::vector< bool > &vec) const

bool	getParamCached (const std::string &key, std::map< std::string, std::string > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, double > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, int > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, bool > &map) const

bool	getParamNames (std::vector< std::string > &keys) const

const std::string &	getUnresolvedNamespace () const

bool	hasParam (const std::string &key) const

	NodeHandle (const std::string &ns=std::string(), const M_string &remappings=M_string())

	NodeHandle (const NodeHandle &rhs)

	NodeHandle (const NodeHandle &parent, const std::string &ns)

	NodeHandle (const NodeHandle &parent, const std::string &ns, const M_string &remappings)

bool	ok () const

NodeHandle &	operator= (const NodeHandle &rhs)

T	param (const std::string &param_name, const T &default_val) const

bool	param (const std::string &param_name, T &param_val, const T &default_val) const

std::string	resolveName (const std::string &name, bool remap=true) const

bool	searchParam (const std::string &key, std::string &result) const

ServiceClient	serviceClient (ServiceClientOptions &ops)

ServiceClient	serviceClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())

ServiceClient	serviceClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())

void	setCallbackQueue (CallbackQueueInterface *queue)

void	setParam (const std::string &key, const std::map< std::string, bool > &map) const

void	setParam (const std::string &key, const std::map< std::string, int > &map) const

void	setParam (const std::string &key, const std::map< std::string, double > &map) const

void	setParam (const std::string &key, const XmlRpc::XmlRpcValue &v) const

void	setParam (const std::string &key, const std::map< std::string, float > &map) const

void	setParam (const std::string &key, const std::vector< float > &vec) const

void	setParam (const std::string &key, const std::vector< double > &vec) const

void	setParam (const std::string &key, const std::vector< bool > &vec) const

void	setParam (const std::string &key, const std::string &s) const

void	setParam (const std::string &key, const char *s) const

void	setParam (const std::string &key, bool b) const

void	setParam (const std::string &key, const std::vector< int > &vec) const

void	setParam (const std::string &key, const std::map< std::string, std::string > &map) const

void	setParam (const std::string &key, const std::vector< std::string > &vec) const

void	setParam (const std::string &key, int i) const

void	setParam (const std::string &key, double d) const

void	shutdown ()

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &) const, T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &), T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, const boost::function< void(C)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, const boost::function< void(const boost::shared_ptr< M const > &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &) const, const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(M) const, T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (SubscribeOptions &ops)

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M) const, const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(M), T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(M), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(const boost::shared_ptr< M const > &), const TransportHints &transport_hints=TransportHints())

	~NodeHandle ()

Public Member Functions inherited from cras::BoundParamHelper
	BoundParamHelper (const ::cras::LogHelperPtr &log, const ::cras::GetParamAdapterPtr &param)

inline ::std::string	getNamespace () const
	Return the namespace this helper operates in. More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::std::string &name, const ::cras::optional< const char *> &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions< std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::std::string &name, const ::cras::optional< const char *> &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult< std::string >	getParamVerbose (const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

bool	hasParam (const ::std::string &name, const bool searchNested=true) const
	Whether a parameter with the given name exists. More...

inline ::cras::BoundParamHelperPtr	paramsInNamespace (const ::std::string &ns) const
	Return a parameter helper of a sub-namespace. More...

	~BoundParamHelper () override=default

Protected Member Functions
virtual ::cras::BoundParamHelperPtr	getDiagParams (const ::std::string &diagNs, const ::std::string &topic) const
	Get the param helper from which parameters for the diagnostic task can be extracted. More...

virtual ::std::string	prefixDiagNamespace (const ::std::string &ns) const
	Optionally add a private node namespace to the given topic if this nodehandle is in the root node namespace. More...

Protected Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const
	Return the log helper used for logging. More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char *> &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char *> &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

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

void	setLogger (const ::cras::LogHelperPtr &logger)
	Set the log helper used for logging. More...

virtual	~ParamHelper ()=default

Protected Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	This is the function picked up by `CRAS_*` logging macros. More...

	HasLogger (const ::cras::LogHelperPtr &log)
	Associate the logger with this interface. More...

void	setCrasLogger (const ::cras::LogHelperPtr &log)
	Set the logger to be used for logging. More...

Protected Attributes
::ros::NodeHandle	parentNh {}
	The parent node handle of this one. More...

Protected Attributes inherited from cras::BoundParamHelper
::cras::GetParamAdapterPtr	param
	The bound parameter adapter. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log
	Log helper. More...

Detailed Description

Utils for adding diagnostics to a topic via node handle.

The publisher and subscriber diagnostic tasks can be configured from ROS parameters. The following parameters are read:

rate/desired (double, Hz, no default): If set, this value will be used as the default of min/max rates.
rate/min (double, Hz, default 0.0 or desired): Minimum acceptable rate.
rate/max (double, Hz, default +inf or desired): Maximum acceptable rate.
rate/tolerance (double, default 0.1): Tolerance of the min/max rate (0.0 means that the min/max rate limits are strict).
rate/window_size (uint, default 5): Over how many diagnostics updates should the rate be computed.
delay/min (double, s, default -1.0): Minimum acceptable delay (only computed for messages with a header).
delay/max (double, s, default 5.0): Maximum acceptable delay (only computed for messages with a header).

The parameter namespace from which they are configured is determined as follows:

If no explicit namespace is specified, the topic name is used.
- Name remapping is done only "until" the topic name level. I.e. node name or parent namespaces are affected by remappings, but the topic name is not. If the topic name is absolute, it is taken as is without any remappings.
- Explicit namespaces are remapped as normal ROS parameters.
If the namespace starts with ~ or is not specified (topic name is used), the private node namespace (node name) is prepended.
- If this node handle already represents a private node handle, no additional namespace is prepended.

Here are a few examples:

    // node name is "diag_utils"
    cras::NodeHandleWithDiagnostics nh;
    cras::NodeHandleWithDiagnostics pnh("~");
    cras::NodeHandleWithDiagnostics tnh("test");
    cras::NodeHandleWithDiagnostics rnh("", {{"/topic", "/topic2"}});  // remap /topic->/topic2

    nh.advertiseDiagnosed(updater, "topic", 10);  // param namespace is /diag_utils/topic
    nh.advertiseDiagnosed(updater, "/topic", 10);  // param namespace is /topic
    nh.advertiseDiagnosed(updater, "test", "topic", 10);  // param namespace is /test
    nh.advertiseDiagnosed(updater, "~test", "topic", 10);  // param namespace is /diag_utils/test
    pnh.advertiseDiagnosed(updater, "topic", 10);  // param namespace is /diag_utils/topic
    pnh.advertiseDiagnosed(updater, "/topic", 10);  // param namespace is /topic
    pnh.advertiseDiagnosed(updater, "test", "topic", 10);  // param namespace is /diag_utils/test
    pnh.advertiseDiagnosed(updater, "~test", "topic", 10);  // param namespace is /diag_utils/test
    tnh.advertiseDiagnosed(updater, "topic", 10);  // param namespace is /test/topic
    tnh.advertiseDiagnosed(updater, "/topic", 10);  // param namespace is /topic
    tnh.advertiseDiagnosed(updater, "test", "topic", 10);  // param namespace is /test/test
    tnh.advertiseDiagnosed(updater, "~test", "topic", 10);  // param namespace is /test/test
    rnh.advertiseDiagnosed(updater, "topic", 10);  // subscribes /topic2, param namespace is /diag_utils/topic
    rnh.advertiseDiagnosed(updater, "/topic", 10);  // subscribes /topic2, param namespace is /topic

Definition at line 88 of file node_handle_with_diagnostics.h.

Constructor & Destructor Documentation

◆ NodeHandleWithDiagnostics() [1/3]

cras::NodeHandleWithDiagnostics::NodeHandleWithDiagnostics	(	const ::std::string &	ns = `""`,
		const ::ros::M_string &	remappings = `{}`
	)

explicit

Create the node handle using the passed ROS node handle parameters.

Parameters

[in]	ns	Namespace of the handle.
[in]	remappings	Remappings.

◆ NodeHandleWithDiagnostics() [2/3]

cras::NodeHandleWithDiagnostics::NodeHandleWithDiagnostics	(	const ::ros::NodeHandle &	parent,
		const ::std::string &	ns
	)

Create the node handle using the passed ROS node handle parameters.

Parameters

[in]	parent	Parent node handle.
[in]	ns	Namespace of the handle.

◆ NodeHandleWithDiagnostics() [3/3]

cras::NodeHandleWithDiagnostics::NodeHandleWithDiagnostics	(	const ::ros::NodeHandle &	parent,
		const ::std::string &	ns,
		const ::ros::M_string &	remappings
	)

Create the node handle using the passed ROS node handle parameters.

Parameters

[in]	parent	Parent node handle.
[in]	ns	Namespace of the handle.
[in]	remappings	Remappings.

Member Function Documentation

◆ advertiseDiagnosed() [1/6]

template<class Message >

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeHandleWithDiagnostics::advertiseDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		const size_t	queueSize,
		const bool	latch = `false`
	)

inline

Advertise publication of a message, automatically adding diagnostics to it.

Template Parameters

Message Type of the message to be published.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to advertise and diagnose.
[in]	queueSize	Size of the publishing queue.
[in]	latch	Whether to latch the publication.

Returns: A publisher object whose publish() method has to be used to correctly automate the diagnostic task updating.

Definition at line 150 of file node_handle_with_diagnostics.h.

◆ advertiseDiagnosed() [2/6]

template<class Message >

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeHandleWithDiagnostics::advertiseDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		::ros::AdvertiseOptions &	options
	)

inline

Advertise publication of a message, automatically adding diagnostics to it.

Template Parameters

Message Type of the message to be published.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in,out]	options	Advertise options that configure the publisher.

Returns: A publisher object whose publish() method has to be used to correctly automate the diagnostic task updating.

Definition at line 173 of file node_handle_with_diagnostics.h.

◆ advertiseDiagnosed() [3/6]

template<class Message >

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeHandleWithDiagnostics::advertiseDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		const size_t	queueSize,
		const bool	latch = `false`
	)

inline

Advertise publication of a message, automatically adding diagnostics to it.

Template Parameters

Message Type of the message to be published.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to advertise and diagnose.
[in]	queueSize	Size of the publishing queue.
[in]	latch	Whether to latch the publication.

Returns: A publisher object whose publish() method has to be used to correctly automate the diagnostic task updating.

Definition at line 198 of file node_handle_with_diagnostics.h.

◆ advertiseDiagnosed() [4/6]

template<class Message >

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeHandleWithDiagnostics::advertiseDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		::ros::AdvertiseOptions &	options
	)

inline

Advertise publication of a message, automatically adding diagnostics to it.

Template Parameters

Message Type of the message to be published.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in,out]	options	Advertise options that configure the publisher.

Returns: A publisher object whose publish() method has to be used to correctly automate the diagnostic task updating.

Definition at line 216 of file node_handle_with_diagnostics.h.

◆ advertiseDiagnosed() [5/6]

template<class Message >

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeHandleWithDiagnostics::advertiseDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	topic,
		const size_t	queueSize,
		const bool	latch = `false`
	)

inline

Advertise publication of a message, automatically adding diagnostics to it.

Template Parameters

Message Type of the message to be published.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	topic	The topic to advertise and diagnose.
[in]	queueSize	Size of the publishing queue.
[in]	latch	Whether to latch the publication.

Returns: A publisher object whose publish() method has to be used to correctly automate the diagnostic task updating.

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 236 of file node_handle_with_diagnostics.h.

◆ advertiseDiagnosed() [6/6]

template<class Message >

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeHandleWithDiagnostics::advertiseDiagnosed	(	::diagnostic_updater::Updater &	updater,
		::ros::AdvertiseOptions &	options
	)

inline

Advertise publication of a message, automatically adding diagnostics to it.

Template Parameters

Message Type of the message to be published.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in,out]	options	Advertise options that configure the publisher.

Returns: A publisher object whose publish() method has to be used to correctly automate the diagnostic task updating.

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 253 of file node_handle_with_diagnostics.h.

◆ getDiagParams()

virtual ::cras::BoundParamHelperPtr cras::NodeHandleWithDiagnostics::getDiagParams	(	const ::std::string &	diagNs,
		const ::std::string &	topic
	)		const

protected

Get the param helper from which parameters for the diagnostic task can be extracted.

Parameters

[in]	diagNs	Namespace of the diagnostic task. Pass empty string if you want to search a parameter namespace based on the topic name.
[in]	topic	Name of the diagnosed topic which will be used as a default parameter namespace.

Returns: The param helper.

◆ prefixDiagNamespace()

virtual ::std::string cras::NodeHandleWithDiagnostics::prefixDiagNamespace ( const ::std::string & ns ) const

protected

Optionally add a private node namespace to the given topic if this nodehandle is in the root node namespace.

Parameters

[in] ns The namespace to prefix.

Returns: The prefix namespace.

◆ subscribeDiagnosed() [1/24]

template<typename M , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(*)(M)	cb,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 276 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [2/24]

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<Message> > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		const boost::function< void(const ::boost::shared_ptr< Message > &)> &	cb,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

Message Type of the message to subscribe to.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 301 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [3/24]

template<typename C , typename = ::std::enable_if_t<::cras::IsMessageParam<C>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<C> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< C >> &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		const boost::function< void(C)> &	cb,
		::ros::VoidConstPtr	obj = `{}`,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

C	Signature of the callback.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	Tracked object.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 327 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [4/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M)	cb,
		T *	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 355 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [5/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M) const	cb,
		T *	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 382 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [6/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M)	cb,
		const ::boost::shared_ptr< T > &	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 409 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [7/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M) const	cb,
		const ::boost::shared_ptr< T > &	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 437 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [8/24]

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<Message> > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		::ros::SubscribeOptions &	options
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

Message Type of the message to subscribe to.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in,out]	options	Subscription options.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 460 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [9/24]

template<typename M , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(*)(M)	cb,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 483 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [10/24]

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<Message> > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		const boost::function< void(const ::boost::shared_ptr< Message > &)> &	cb,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

Message Type of the message to subscribe to.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 503 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [11/24]

template<typename C , typename = ::std::enable_if_t<::cras::IsMessageParam<C>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<C> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		const boost::function< void(C)> &	cb,
		::ros::VoidConstPtr	obj = `{}`,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

C	Signature of the callback.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	Tracked object.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 525 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [12/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M)	cb,
		T *	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 548 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [13/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M) const	cb,
		T *	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 570 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [14/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M)	cb,
		const ::boost::shared_ptr< T > &	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 592 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [15/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M) const	cb,
		const ::boost::shared_ptr< T > &	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 615 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [16/24]

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<Message> > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	diagNamespace,
		::ros::SubscribeOptions &	options
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

Message Type of the message to subscribe to.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched.
[in,out]	options	Subscription options.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 633 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [17/24]

template<typename M , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(*)(M)	cb,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 653 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [18/24]

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<Message> > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	topic,
		uint32_t	queue_size,
		const boost::function< void(const ::boost::shared_ptr< Message > &)> &	cb,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

Message Type of the message to subscribe to.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 672 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [19/24]

template<typename C , typename = ::std::enable_if_t<::cras::IsMessageParam<C>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<C> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	topic,
		uint32_t	queue_size,
		const boost::function< void(C)> &	cb,
		::ros::VoidConstPtr	obj = `{}`,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

C	Signature of the callback.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	Tracked object.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Definition at line 692 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [20/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M)	cb,
		T *	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 714 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [21/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M) const	cb,
		T *	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 735 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [22/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M)	cb,
		const ::boost::shared_ptr< T > &	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 756 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [23/24]

template<typename M , class T , typename = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		const ::std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M) const	cb,
		const ::boost::shared_ptr< T > &	obj,
		::ros::TransportHints	hints = `{}`
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

M	Signature of the callback.
T	Type of the object on which the callback will be called.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in]	topic	The topic to subscribe to.
[in]	queue_size	Size of the subscription queue.
[in]	cb	The callback to call when a message is received.
[in]	obj	The object to call the callback on.
[in]	hints	Connection hints.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 778 of file node_handle_with_diagnostics.h.

◆ subscribeDiagnosed() [24/24]

template<typename Message , typename = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

::std::unique_ptr<::cras::DiagnosedSubscriber<Message> > cras::NodeHandleWithDiagnostics::subscribeDiagnosed	(	::diagnostic_updater::Updater &	updater,
		::ros::SubscribeOptions &	options
	)

inline

Subscribe to the given topic, automatically updating the diagnostic task every time a message is received.

Template Parameters

Message Type of the message to subscribe to.

Parameters

[in]	updater	The diagnostic updater to add the diagnostic task to.
[in,out]	options	Subscription options.

Returns: The subscriber object. Keep it alive whole time the subscription should be active!

Note: The diagnostic task will search its parameters in parameter namespace ~/topic.

Definition at line 795 of file node_handle_with_diagnostics.h.

Member Data Documentation

◆ parentNh

::ros::NodeHandle cras::NodeHandleWithDiagnostics::parentNh {}

protected

The parent node handle of this one.

Definition at line 802 of file node_handle_with_diagnostics.h.

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

node_handle_with_diagnostics.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ NodeHandleWithDiagnostics() [1/3]

◆ NodeHandleWithDiagnostics() [2/3]

◆ NodeHandleWithDiagnostics() [3/3]

Member Function Documentation

◆ advertiseDiagnosed() [1/6]

◆ advertiseDiagnosed() [2/6]

◆ advertiseDiagnosed() [3/6]

◆ advertiseDiagnosed() [4/6]

◆ advertiseDiagnosed() [5/6]

◆ advertiseDiagnosed() [6/6]

◆ getDiagParams()

◆ prefixDiagNamespace()

◆ subscribeDiagnosed() [1/24]

◆ subscribeDiagnosed() [2/24]

◆ subscribeDiagnosed() [3/24]

◆ subscribeDiagnosed() [4/24]

◆ subscribeDiagnosed() [5/24]

◆ subscribeDiagnosed() [6/24]

◆ subscribeDiagnosed() [7/24]

◆ subscribeDiagnosed() [8/24]

◆ subscribeDiagnosed() [9/24]

◆ subscribeDiagnosed() [10/24]

◆ subscribeDiagnosed() [11/24]

◆ subscribeDiagnosed() [12/24]

◆ subscribeDiagnosed() [13/24]

◆ subscribeDiagnosed() [14/24]

◆ subscribeDiagnosed() [15/24]

◆ subscribeDiagnosed() [16/24]

◆ subscribeDiagnosed() [17/24]

◆ subscribeDiagnosed() [18/24]

◆ subscribeDiagnosed() [19/24]

◆ subscribeDiagnosed() [20/24]

◆ subscribeDiagnosed() [21/24]

◆ subscribeDiagnosed() [22/24]

◆ subscribeDiagnosed() [23/24]

◆ subscribeDiagnosed() [24/24]

Member Data Documentation

◆ parentNh