Nodelet mixin that provides helper functions for running a diagnostics updater. More...

#include <nodelet_with_diagnostics.hpp>

Inheritance diagram for cras::NodeletWithDiagnostics< NodeletType >:

Public Member Functions
	NodeletWithDiagnostics ()

virtual	~NodeletWithDiagnostics ()

Protected Member Functions
template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

template<typename Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, ""),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

template<typename T >
::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate, const ::ros::Rate &defaultMinRate, const ::ros::Rate &defaultMaxRate)
	Create a diagnosed publisher for a message type without header. More...

template<typename T >
::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate)
	Create a diagnosed publisher for a message type with header. More...

template<typename T >
::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace)
	Create a diagnosed publisher for a message type with header. More...

::ros::NodeHandle	getDefaultDiagNh (const ::ros::NodeHandle &pubSubNh, const ::std::string &diagNamespace)
	Get the default node handle for reading diagnostic task configuration. More...

::cras::BoundParamHelperPtr	getDiagParams (const ::ros::NodeHandle &nh, const ::std::string &diagNamespace, const ::std::string &topic)
	Get the parameters configuring a diagnosed publisher or subscriber. More...

::cras::DiagnosticUpdater &	getDiagUpdater (bool forceNew=false) const
	Get a diagnostic updater to be used with this nodelet. More...

void	startDiagTimer () const
	Start periodic updates of the diagnostics updater. More...

void	startDiagTimer (const ::ros::NodeHandle &nh) const
	Start periodic updates of the diagnostics updater. More...

void	stopDiagTimer () const
	Stop the automatic updates of the diagnostic updater. More...

template<typename M , typename Enable = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, 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 Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, 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 Enable = ::std::enable_if_t<::cras::IsMessageParam<C>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, 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 Enable = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, 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 Enable = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, 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 Enable = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, 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 Enable = ::std::enable_if_t<::cras::IsMessageParam<M>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, 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 Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, 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...

Private Attributes
::std::unique_ptr<::cras::impl::NodeletWithDiagnosticsPrivate >	data
	PIMPL. More...

Detailed Description

template<typename NodeletType>
struct cras::NodeletWithDiagnostics< NodeletType >

Nodelet mixin that provides helper functions for running a diagnostics updater.

Template Parameters

NodeletType Type of the base nodelet.

Methods advertiseDiagnosed() and subscribeDiagnosed() offer a versatile API based on the API of NodeHandle. Additional required arguments like node handles or diagnostic task configuration are prepended to the list of usual arguments of advertise()/subscribe(). All of these additional arguments are optional (which is achieved by providing a lot of overrides of the functions).

This class offers an option to configure the diagnostic task from a set of 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 the parameters are read is determined as follows:

If diagNh is missing and diagNamespace is empty or missing, the namespace is ~topic.
If diagNh is missing and diagNamespace is nonempty and starts with ~, the namespace is ~diagNamespace.
If diagNh is missing and diagNamespace is nonempty and does not start with ~, the namespace is pubNh/diagNamespace.
If diagNh is specified and diagNamespace is empty or missing, the namespace is diagNh/topic.
If diagNh is specified and diagNamespace nonempty, the namespace is diagNh/diagNamespace.

Whenever the topic name is used in the topic diagnostic configuration namespace, the name of the topic is not affected by topic remappings passed to the nodelet (but its parent namespaces are affected).

Here are a few examples:

    // nodelet name is "nodelet"
    ros::NodeHandle nh = this->getNodeHandle();
    ros::NodeHandle pnh = this->getPrivateNodeHandle();
    ros::NodeHandle tnh(nh, "test");
    ros::NodeHandle rnh(nh, "", {{"/topic", "/topic2"}});  // remap /topic->/topic2

    this->advertiseDiagnosed(nh, "topic", 10);  // param namespace is /nodelet/topic
    this->advertiseDiagnosed(nh, "/topic", 10);  // param namespace is /topic
    this->advertiseDiagnosed(nh, "test", "topic", 10);  // param namespace is /test
    this->advertiseDiagnosed(nh, "~test", "topic", 10);  // param namespace is /nodelet/test
    this->advertiseDiagnosed(nh, pnh, "topic", 10);  // param namespace is /nodelet/topic
    this->advertiseDiagnosed(nh, pnh, "test", "topic", 10);  // param namespace is /nodelet/test
    this->advertiseDiagnosed(nh, pnh, "~test", "topic", 10);  // param namespace is /nodelet/test
    this->advertiseDiagnosed(pnh, "topic", 10);  // param namespace is /nodelet/topic
    this->advertiseDiagnosed(pnh, "/topic", 10);  // param namespace is /topic
    this->advertiseDiagnosed(pnh, "test", "topic", 10);  // param namespace is /nodelet/test
    this->advertiseDiagnosed(pnh, "~test", "topic", 10);  // param namespace is /nodelet/test
    this->advertiseDiagnosed(pnh, tnh, "topic", 10);  // param namespace is /test/topic
    this->advertiseDiagnosed(pnh, tnh, "test", "topic", 10);  // param namespace is /test/test
    this->advertiseDiagnosed(pnh, tnh, "~test", "topic", 10);  // param namespace is /test/test
    this->advertiseDiagnosed(tnh, "topic", 10);  // param namespace is /test/topic
    this->advertiseDiagnosed(tnh, "/topic", 10);  // param namespace is /topic
    this->advertiseDiagnosed(tnh, "test", "topic", 10);  // param namespace is /test/test
    this->advertiseDiagnosed(tnh, "~test", "topic", 10);  // param namespace is /test/test
    this->advertiseDiagnosed(rnh, "topic", 10);  // subscribes /topic2, param namespace is /nodelet/topic
    this->advertiseDiagnosed(rnh, "/topic", 10);  // subscribes /topic2, param namespace is /topic

Definition at line 104 of file nodelet_with_diagnostics.hpp.

Constructor & Destructor Documentation

◆ NodeletWithDiagnostics()

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::NodeletWithDiagnostics ( )

◆ ~NodeletWithDiagnostics()

template<typename NodeletType>

virtual cras::NodeletWithDiagnostics< NodeletType >::~NodeletWithDiagnostics ( )

virtual

Member Function Documentation

◆ advertiseDiagnosed() [1/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		::ros::NodeHandle	diagNh,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		size_t	queueSize,
		bool	latch = `false`
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

◆ advertiseDiagnosed() [2/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		::ros::NodeHandle	diagNh,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		::ros::AdvertiseOptions &	options
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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	Topic advertise options.

Returns: The publisher object.

◆ advertiseDiagnosed() [3/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		size_t	queueSize,
		bool	latch = `false`
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in]	topic	The topic to subscribe to.
[in]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

◆ advertiseDiagnosed() [4/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		::ros::AdvertiseOptions &	options
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in,out]	options	Topic advertise options.

Returns: The publisher object.

◆ advertiseDiagnosed() [5/18]

template<typename NodeletType>

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

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

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in]	topic	The topic to subscribe to (relative to public node handle of the nodelet).
[in]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

◆ advertiseDiagnosed() [6/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		::ros::AdvertiseOptions &	options
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	defaultDiagParams	Default parameters of the diagnostic task.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in,out]	options	Topic advertise options (topic is relative to public node handle of the nodelet).

Returns: The publisher object.

◆ advertiseDiagnosed() [7/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		::ros::NodeHandle	diagNh,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		size_t	queueSize,
		bool	latch = `false`
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle used for the publisher of messages.
[in]	diagNh	Node handle used for configuration of the diagnostics.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in]	topic	The topic to subscribe to (relative to public node handle of the nodelet).
[in]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

◆ advertiseDiagnosed() [8/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		::ros::NodeHandle	diagNh,
		const ::std::string &	diagNamespace,
		::ros::AdvertiseOptions &	options
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle used for the publisher of messages.
[in]	diagNh	Node handle used for configuration of the diagnostics.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in,out]	options	Topic advertise options (topic is relative to public node handle of the nodelet).

Returns: The publisher object.

◆ advertiseDiagnosed() [9/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic,
		size_t	queueSize,
		bool	latch = `false`
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in]	topic	The topic to subscribe to.
[in]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

◆ advertiseDiagnosed() [10/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		const ::std::string &	diagNamespace,
		::ros::AdvertiseOptions &	options
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in,out]	options	Topic advertise options.

Returns: The publisher object.

◆ advertiseDiagnosed() [11/18]

template<typename NodeletType>

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

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

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in]	topic	The topic to subscribe to (relative to public node handle of the nodelet).
[in]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

◆ advertiseDiagnosed() [12/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	const ::std::string &	diagNamespace,
		::ros::AdvertiseOptions &	options
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	diagNamespace	Parameter namespace in which the parameters for the diagnostic task will be searched (using the private node handle of the nodelet).
[in,out]	options	Topic advertise options (topic is relative to public node handle of the nodelet).

Returns: The publisher object.

◆ advertiseDiagnosed() [13/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		::ros::NodeHandle	diagNh,
		const ::std::string &	topic,
		size_t	queueSize,
		bool	latch = `false`
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task (namespace is same as topic).
[in]	topic	The topic to subscribe to.
[in]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

◆ advertiseDiagnosed() [14/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		::ros::NodeHandle	diagNh,
		ros::AdvertiseOptions &	options
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task (namespace is same as topic).
[in,out]	options	Topic advertise options.

Returns: The publisher object.

◆ advertiseDiagnosed() [15/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		const ::std::string &	topic,
		size_t	queueSize,
		bool	latch = `false`
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in]	topic	The topic to subscribe to.
[in]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

Note: Diagnostic task config is read from ~topic namespace (with topic not remapped).

◆ advertiseDiagnosed() [16/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	::ros::NodeHandle	publisherNh,
		ros::AdvertiseOptions &	options
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	publisherNh	Node handle to use for setting up the publisher.
[in,out]	options	Topic advertise options.

Returns: The publisher object.

Note: Diagnostic task config is read from ~topic namespace (with topic not remapped).

◆ advertiseDiagnosed() [17/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed	(	const ::std::string &	topic,
		size_t	queueSize,
		bool	latch = `false`
	)

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in]	topic	The topic to subscribe to (relative to public node handle of the nodelet).
[in]	queueSize	Size of the subscription queue.
[in]	latch	Whether the topic should be latched.

Returns: The publisher object.

Note: Diagnostic task config is read from ~topic namespace (with topic not remapped).

◆ advertiseDiagnosed() [18/18]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedPublisher<Message> > cras::NodeletWithDiagnostics< NodeletType >::advertiseDiagnosed ( ros::AdvertiseOptions & options )

protected

Advertise a topic and setup up an automatic topic diagnostic task for it.

Template Parameters

Message	The published message type.
Enable	SFINAE only. Do not explicitly set.

Parameters

[in,out] options Topic advertise options.

Returns: The publisher object.

Note: Diagnostic task config is read from ~topic namespace (with topic not remapped).

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [1/8]

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(	CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,)	,
		CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),)	,
		CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,)	,
		CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,)
	)

protected

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [2/8]

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(	CRAS_SINGLE_ARG()	,
		CRAS_SINGLE_ARG(this->getNodeHandle(),)	,
		CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,)	,
		CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,)
	)

protected

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [3/8]

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(	CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,)	,
		CRAS_SINGLE_ARG(subscriberNh, diagNh,)	,
		CRAS_SINGLE_ARG(const ::std::string &diagNamespace,)	,
		CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,)
	)

protected

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [4/8]

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(	CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,)	,
		CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),)	,
		CRAS_SINGLE_ARG(const ::std::string &diagNamespace,)	,
		CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,)
	)

protected

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [5/8]

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(	CRAS_SINGLE_ARG()	,
		CRAS_SINGLE_ARG(this->getNodeHandle(),)	,
		CRAS_SINGLE_ARG(const ::std::string &diagNamespace,)	,
		CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,)
	)

protected

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [6/8]

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(	CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,)	,
		CRAS_SINGLE_ARG(subscriberNh, diagNh,)	,
		CRAS_SINGLE_ARG()	,
		CRAS_SINGLE_ARG("",)
	)

protected

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [7/8]

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(	CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,)	,
		CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, ""),)	,
		CRAS_SINGLE_ARG()	,
		CRAS_SINGLE_ARG("",)
	)

protected

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [8/8]

template<typename NodeletType>

cras::NodeletWithDiagnostics< NodeletType >::CRAS_NODELET_DIAG_GENERATE_OVERLOADS	(	CRAS_SINGLE_ARG()	,
		CRAS_SINGLE_ARG(this->getNodeHandle(),)	,
		CRAS_SINGLE_ARG()	,
		CRAS_SINGLE_ARG("",)
	)

protected

◆ createDiagnosedPublisher() [1/3]

template<typename NodeletType>

template<typename T >

::std::unique_ptr<::cras::DiagnosedPublisher<T> > cras::NodeletWithDiagnostics< NodeletType >::createDiagnosedPublisher	(	::ros::NodeHandle	nh,
		const ::std::string &	topic,
		size_t	queueSize,
		const ::std::string &	paramNamespace,
		const ::ros::Rate &	defaultRate,
		const ::ros::Rate &	defaultMinRate,
		const ::ros::Rate &	defaultMaxRate
	)

protected

Create a diagnosed publisher for a message type without header.

Template Parameters

T	Type of the published data.

Parameters

[in]	nh	Node handle for which the publisher should be created.
[in]	topic	Topic to publish to.
[in]	queueSize	Queue size.
[in]	paramNamespace	Namespace in private parameters of this nodelet where configuration of the diagnostics is stored. Params are: rate/desired, rate/max, rate/min, rate/tolerance, rate/window_size.
[in]	defaultRate	Default expected rate.
[in]	defaultMinRate	Default minimum rate.
[in]	defaultMaxRate	Default maximum rate.

Returns: The publisher with diagnostics.

◆ createDiagnosedPublisher() [2/3]

template<typename NodeletType>

template<typename T >

::std::unique_ptr<::cras::DiagnosedPublisher<T> > cras::NodeletWithDiagnostics< NodeletType >::createDiagnosedPublisher	(	::ros::NodeHandle	nh,
		const ::std::string &	topic,
		size_t	queueSize,
		const ::std::string &	paramNamespace,
		const ::ros::Rate &	defaultRate
	)

protected

Create a diagnosed publisher for a message type with header.

Template Parameters

T	Type of the published data.

Parameters

[in]	nh	Node handle for which the publisher should be created.
[in]	topic	Topic to publish to.
[in]	queueSize	Queue size.
[in]	paramNamespace	Namespace in private parameters of this nodelet where configuration of the diagnostics is stored. Params are: rate/desired, rate/max, rate/min, rate/tolerance, rate/window_size, delay/min, delay/max.
[in]	defaultRate	Default expected rate.

Returns: The publisher with diagnostics.

◆ createDiagnosedPublisher() [3/3]

template<typename NodeletType>

template<typename T >

::std::unique_ptr<::cras::DiagnosedPublisher<T> > cras::NodeletWithDiagnostics< NodeletType >::createDiagnosedPublisher	(	::ros::NodeHandle	nh,
		const ::std::string &	topic,
		size_t	queueSize,
		const ::std::string &	paramNamespace
	)

protected

Create a diagnosed publisher for a message type with header.

Template Parameters

T	Type of the published data.

Parameters

[in]	nh	Node handle for which the publisher should be created.
[in]	topic	Topic to publish to.
[in]	queueSize	Queue size.
[in]	paramNamespace	Namespace in private parameters of this nodelet where configuration of the diagnostics is stored. Params are: rate/desired, rate/max, rate/min, rate/tolerance, rate/window_size, delay/min, delay/max.

Returns: The publisher with diagnostics.

◆ getDefaultDiagNh()

template<typename NodeletType>

::ros::NodeHandle cras::NodeletWithDiagnostics< NodeletType >::getDefaultDiagNh	(	const ::ros::NodeHandle &	pubSubNh,
		const ::std::string &	diagNamespace
	)

protected

Get the default node handle for reading diagnostic task configuration.

Parameters

[in]	pubSubNh	The node handle used for creating the publisher/subscriber.
[in]	diagNamespace	The explicit namespace.

Returns: The node handle.

◆ getDiagParams()

template<typename NodeletType>

::cras::BoundParamHelperPtr cras::NodeletWithDiagnostics< NodeletType >::getDiagParams	(	const ::ros::NodeHandle &	nh,
		const ::std::string &	diagNamespace,
		const ::std::string &	topic
	)

protected

Get the parameters configuring a diagnosed publisher or subscriber.

Parameters

[in]	nh	Node handle of the publisher or subscriber.
[in]	diagNamespace	Parameter sub-namespace inside the node handle's namespace.
[in]	topic	Name of the diagnosed topic.

Returns: Param helper with the parameters.

◆ getDiagUpdater()

template<typename NodeletType>

::cras::DiagnosticUpdater& cras::NodeletWithDiagnostics< NodeletType >::getDiagUpdater ( bool forceNew = false ) const

protected

Get a diagnostic updater to be used with this nodelet.

Parameters

[in] forceNew If true, force creating a new updater, otherwise reuse the previously created one if it exists.

Returns: The updater.

◆ startDiagTimer() [1/2]

template<typename NodeletType>

void cras::NodeletWithDiagnostics< NodeletType >::startDiagTimer ( ) const

protected

Start periodic updates of the diagnostics updater.

◆ startDiagTimer() [2/2]

template<typename NodeletType>

void cras::NodeletWithDiagnostics< NodeletType >::startDiagTimer ( const ::ros::NodeHandle & nh ) const

protected

Start periodic updates of the diagnostics updater.

Parameters

[in] nh The node handle on which the timer should be started.

◆ stopDiagTimer()

template<typename NodeletType>

void cras::NodeletWithDiagnostics< NodeletType >::stopDiagTimer ( ) const

protected

Stop the automatic updates of the diagnostic updater.

◆ subscribeDiagnosed() [1/8]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeletWithDiagnostics< NodeletType >::subscribeDiagnosed	(	::ros::NodeHandle	subscriberNh,
		::ros::NodeHandle	diagNh,
		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 = `{}`
	)

protected

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]	subscriberNh	Node handle to use for setting up the subscriber.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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!

◆ subscribeDiagnosed() [2/8]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedSubscriber<Message> > cras::NodeletWithDiagnostics< NodeletType >::subscribeDiagnosed	(	::ros::NodeHandle	subscriberNh,
		::ros::NodeHandle	diagNh,
		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 = `{}`
	)

protected

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]	subscriberNh	Node handle to use for setting up the subscriber.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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!

◆ subscribeDiagnosed() [3/8]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<C> > > cras::NodeletWithDiagnostics< NodeletType >::subscribeDiagnosed	(	::ros::NodeHandle	subscriberNh,
		::ros::NodeHandle	diagNh,
		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 = `{}`
	)

protected

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]	subscriberNh	Node handle to use for setting up the subscriber.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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!

◆ subscribeDiagnosed() [4/8]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeletWithDiagnostics< NodeletType >::subscribeDiagnosed	(	::ros::NodeHandle	subscriberNh,
		::ros::NodeHandle	diagNh,
		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 = `{}`
	)

protected

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]	subscriberNh	Node handle to use for setting up the subscriber.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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!

◆ subscribeDiagnosed() [5/8]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeletWithDiagnostics< NodeletType >::subscribeDiagnosed	(	::ros::NodeHandle	subscriberNh,
		::ros::NodeHandle	diagNh,
		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 = `{}`
	)

protected

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]	subscriberNh	Node handle to use for setting up the subscriber.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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!

◆ subscribeDiagnosed() [6/8]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeletWithDiagnostics< NodeletType >::subscribeDiagnosed	(	::ros::NodeHandle	subscriberNh,
		::ros::NodeHandle	diagNh,
		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 = `{}`
	)

protected

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]	subscriberNh	Node handle to use for setting up the subscriber.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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!

◆ subscribeDiagnosed() [7/8]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage<M> > > cras::NodeletWithDiagnostics< NodeletType >::subscribeDiagnosed	(	::ros::NodeHandle	subscriberNh,
		::ros::NodeHandle	diagNh,
		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 = `{}`
	)

protected

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]	subscriberNh	Node handle to use for setting up the subscriber.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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!

◆ subscribeDiagnosed() [8/8]

template<typename NodeletType>

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

::std::unique_ptr<::cras::DiagnosedSubscriber<Message> > cras::NodeletWithDiagnostics< NodeletType >::subscribeDiagnosed	(	::ros::NodeHandle	subscriberNh,
		::ros::NodeHandle	diagNh,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultDiagParams,
		const ::std::string &	diagNamespace,
		::ros::SubscribeOptions &	options
	)

protected

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]	subscriberNh	Node handle to use for setting up the subscriber.
[in]	diagNh	Node handle to use for reading parameters of the diagnostic task.
[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!

Member Data Documentation

◆ data

template<typename NodeletType>

::std::unique_ptr<::cras::impl::NodeletWithDiagnosticsPrivate> cras::NodeletWithDiagnostics< NodeletType >::data

private

PIMPL.

Definition at line 774 of file nodelet_with_diagnostics.hpp.

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

nodelet_with_diagnostics.hpp

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

template<typename NodeletType> struct cras::NodeletWithDiagnostics< NodeletType >

Constructor & Destructor Documentation

◆ NodeletWithDiagnostics()

◆ ~NodeletWithDiagnostics()

Member Function Documentation

◆ advertiseDiagnosed() [1/18]

◆ advertiseDiagnosed() [2/18]

◆ advertiseDiagnosed() [3/18]

◆ advertiseDiagnosed() [4/18]

◆ advertiseDiagnosed() [5/18]

◆ advertiseDiagnosed() [6/18]

◆ advertiseDiagnosed() [7/18]

◆ advertiseDiagnosed() [8/18]

◆ advertiseDiagnosed() [9/18]

◆ advertiseDiagnosed() [10/18]

◆ advertiseDiagnosed() [11/18]

◆ advertiseDiagnosed() [12/18]

◆ advertiseDiagnosed() [13/18]

◆ advertiseDiagnosed() [14/18]

◆ advertiseDiagnosed() [15/18]

◆ advertiseDiagnosed() [16/18]

◆ advertiseDiagnosed() [17/18]

◆ advertiseDiagnosed() [18/18]

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [1/8]

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [2/8]

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [3/8]

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [4/8]

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [5/8]

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [6/8]

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [7/8]

◆ CRAS_NODELET_DIAG_GENERATE_OVERLOADS() [8/8]

◆ createDiagnosedPublisher() [1/3]

◆ createDiagnosedPublisher() [2/3]

◆ createDiagnosedPublisher() [3/3]

◆ getDefaultDiagNh()

◆ getDiagParams()

◆ getDiagUpdater()

◆ startDiagTimer() [1/2]

◆ startDiagTimer() [2/2]

◆ stopDiagTimer()

◆ subscribeDiagnosed() [1/8]

◆ subscribeDiagnosed() [2/8]

◆ subscribeDiagnosed() [3/8]

◆ subscribeDiagnosed() [4/8]

◆ subscribeDiagnosed() [5/8]

◆ subscribeDiagnosed() [6/8]

◆ subscribeDiagnosed() [7/8]

◆ subscribeDiagnosed() [8/8]

Member Data Documentation

◆ data

template<typename NodeletType>
struct cras::NodeletWithDiagnostics< NodeletType >