cras::NodeletWithSharedTfBuffer< NodeletType > Struct Template Reference

A nodelet mixin that allows to use a tf2_ros::Buffer provided by the nodelet manager (which should save some computations). If this nodelet has also the StatefulNodelet mixin, the automatically created non-shared buffer is nodelet-aware (you can also pass a NodeletAwareTfBuffer to setBuffer()). That means any TF lookups done via this->getBuffer() will be able to correctly end when the nodelet is being unloaded (which normally hangs: https://github.com/ros/geometry2/issues/381). More...

#include <nodelet_with_shared_tf_buffer.hpp>

Inheritance diagram for cras::NodeletWithSharedTfBuffer< NodeletType >:

Public Member Functions
::cras::NodeletAwareTFBuffer &	getBuffer () const override
	Get the TF buffer used by the nodelet. If none has been set by setBuffer(), a buffer is automatically created. More...
	NodeletWithSharedTfBuffer ()
void	setBuffer (const ::std::shared_ptr<::tf2_ros::Buffer > &buffer) override
	Set the TF buffer to be used by the nodelet. If this method is not called, a standalone buffer is created. More...
bool	usesSharedBuffer () const override
	Whether the buffer set using setBuffer() is used or a standalone buffer has been automatically created. More...
virtual	~NodeletWithSharedTfBuffer ()

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

Detailed Description

template<typename NodeletType = ::nodelet::Nodelet>
struct cras::NodeletWithSharedTfBuffer< NodeletType >

A nodelet mixin that allows to use a tf2_ros::Buffer provided by the nodelet manager (which should save some computations). If this nodelet has also the StatefulNodelet mixin, the automatically created non-shared buffer is nodelet-aware (you can also pass a NodeletAwareTfBuffer to setBuffer()). That means any TF lookups done via this->getBuffer() will be able to correctly end when the nodelet is being unloaded (which normally hangs: https://github.com/ros/geometry2/issues/381).

Template Parameters

NodeletType

Type of the base nodelet.

Definition at line 69 of file nodelet_with_shared_tf_buffer.hpp.

Constructor & Destructor Documentation

NodeletWithSharedTfBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

cras::NodeletWithSharedTfBuffer< NodeletType >::NodeletWithSharedTfBuffer

(

)

~NodeletWithSharedTfBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

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

virtual

Member Function Documentation

getBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

::cras::NodeletAwareTFBuffer& cras::NodeletWithSharedTfBuffer< NodeletType >::getBuffer ( ) const

overridevirtual

Get the TF buffer used by the nodelet. If none has been set by setBuffer(), a buffer is automatically created.

Returns

The buffer.

Note

This buffer is only offers the timeouting versions of canTransform() and lookupTransform(). It does not offer setTransform() and many other functions. User getRawBuffer() on the returned instance to get a tf2::BufferCore that offers the missing non-time-aware functionality.

Implements cras::NodeletWithSharedTfBufferInterface.

setBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

void cras::NodeletWithSharedTfBuffer< NodeletType >::setBuffer ( const ::std::shared_ptr<::tf2_ros::Buffer > &  buffer )

overridevirtual

Set the TF buffer to be used by the nodelet. If this method is not called, a standalone buffer is created.

Parameters

[in]

buffer

The buffer to use.

Implements cras::NodeletWithSharedTfBufferInterface.

usesSharedBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

bool cras::NodeletWithSharedTfBuffer< NodeletType >::usesSharedBuffer ( ) const

overridevirtual

Whether the buffer set using setBuffer() is used or a standalone buffer has been automatically created.

Returns

Whether the buffer set using setBuffer() is used or a standalone buffer has been automatically created.

Implements cras::NodeletWithSharedTfBufferInterface.

Member Data Documentation

data

template<typename NodeletType = ::nodelet::Nodelet>

::std::unique_ptr<::cras::impl::NodeletWithSharedTfBufferPrivate> cras::NodeletWithSharedTfBuffer< NodeletType >::data

private

PIMPL.

Definition at line 84 of file nodelet_with_shared_tf_buffer.hpp.

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

• nodelet_with_shared_tf_buffer.hpp