cras::DiagnosedPublisher< Message, Enable > Class Template Reference

Wrapper for ROS publisher that automatically diagnoses the rate and delay of published messages. More...

#include <diagnosed_pub_sub.hpp>

Inheritance diagram for cras::DiagnosedPublisher< Message, Enable >:

Public Member Functions
	DiagnosedPublisher (const ::ros::Publisher &pub, ::diagnostic_updater::Updater &updater, const ::cras::BoundParamHelperPtr &params)
	DiagnosedPublisher (const ::ros::Publisher &pub, ::diagnostic_updater::Updater &updater, const ::cras::BoundParamHelperPtr &params, const ::ros::Rate &defaultRate)
	DiagnosedPublisher (const ::ros::Publisher &pub, ::diagnostic_updater::Updater &updater, const ::cras::BoundParamHelperPtr &params, const ::ros::Rate &defaultRate, const ::ros::Rate &defaultMinRate, const ::ros::Rate &defaultMaxRate)
	DiagnosedPublisher (const ::ros::Publisher &pub, const ::cras::BoundParamHelperPtr &params)
	Add a topic diagnostic task to the publisher. More...
	DiagnosedPublisher (const ::ros::Publisher &pub, const ::cras::BoundParamHelperPtr &params, const ::cras::SimpleTopicStatusParam< Message > &defaultParams)
	Add a topic diagnostic task to the publisher. More...
	DiagnosedPublisher (const ::ros::Publisher &pub, const ::std::shared_ptr<::cras::TopicStatus< Message >> &diag)
	Add the given diagnostic task to the publisher. More...
	DiagnosedPublisher (const ::ros::Publisher &pub, const ::std::string &name, const ::cras::TopicStatusParam< Message > &diagParams)
	Add a topic diagnostic task to the publisher. More...
::ros::Rate	getDesiredRate () const
::ros::Publisher &	getPublisher ()
	Get the ROS publisher. More...
const ::ros::Publisher &	getPublisher () const
	Get the ROS publisher. More...
virtual void	publish (const Message &message)
	Publish a message. More...
virtual void	publish (const typename Message::Ptr &message)
	Publish a message. More...
void	setPublisher (const ::ros::Publisher &pub)
	Change the ROS publisher. More...
Public Member Functions inherited from cras::DiagnosedPubSub< Message >
virtual void	attach (::diagnostic_updater::Updater &updater)
	Add the diagnostic task to the given updater. More...
	DiagnosedPubSub (const ::cras::BoundParamHelperPtr &params)
	Configure the diagnostic task from the given ROS parameter helper. More...
	DiagnosedPubSub (const ::cras::BoundParamHelperPtr &params, const ::cras::SimpleTopicStatusParam< Message > &defaultParams)
	Configure the diagnostic task from the given ROS parameter helper. More...
	DiagnosedPubSub (const ::std::shared_ptr<::cras::TopicStatus< Message >> &diag)
	Use the given diagnostic task to diagnose the publisher/subscriber. More...
	DiagnosedPubSub (const ::std::string &name, const ::cras::TopicStatusParam< Message > &diagParams)
	Create the diagnostic task from the given params. More...
virtual ::std::shared_ptr<::cras::TopicStatus< Message > >	getDiagnosticTask () const
	Get the topic diagnostic task. More...
virtual	~DiagnosedPubSub ()=default

Protected Attributes
::ros::Publisher	publisher
	The ROS publisher. More...
Protected Attributes inherited from cras::DiagnosedPubSub< Message >
::std::shared_ptr<::cras::TopicStatus< Message > >	diag
	The diagnostic task. More...

Additional Inherited Members
Protected Member Functions inherited from cras::DiagnosedPubSub< Message >
void	addDelayParams (::cras::SimpleTopicStatusParam< Message > &topicStatusParam, const ::cras::BoundParamHelperPtr &params)
	When configuring from ROS params, load the delay configuration. More...
void	addDelayParams (::cras::SimpleTopicStatusParam< Message > &topicStatusParam, const ::cras::BoundParamHelperPtr &params)
	When configuring from ROS params for a headerless message type, this function does nothing. More...

Detailed Description

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

Wrapper for ROS publisher that automatically diagnoses the rate and delay of published messages.

Template Parameters

Message	Type of the published message.
Enable	SFINAE only. Do not set explicitly.

Note

For the automatic diagnostics to work, you have to call the publish() method from this class, not the one from the ROS publisher.

Definition at line 136 of file diagnosed_pub_sub.hpp.

Constructor & Destructor Documentation

DiagnosedPublisher() [1/7]

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

cras::DiagnosedPublisher< Message, Enable >::DiagnosedPublisher	(	const ::ros::Publisher &	pub,
		const ::std::shared_ptr<::cras::TopicStatus< Message >> &	diag
	)

Add the given diagnostic task to the publisher.

Parameters

[in]	pub	The ROS publisher.
[in]	diag	The topic diagnostics task.

DiagnosedPublisher() [2/7]

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

cras::DiagnosedPublisher< Message, Enable >::DiagnosedPublisher	(	const ::ros::Publisher &	pub,
		const ::std::string &	name,
		const ::cras::TopicStatusParam< Message > &	diagParams
	)

Add a topic diagnostic task to the publisher.

Parameters

[in]	pub	The ROS publisher.
[in]	name	Name of the diagnostic task
[in]	diagParams	Parameters of the topic diagnostics task.

DiagnosedPublisher() [3/7]

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

cras::DiagnosedPublisher< Message, Enable >::DiagnosedPublisher	(	const ::ros::Publisher &	pub,
		const ::cras::BoundParamHelperPtr &	params,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultParams
	)

Add a topic diagnostic task to the publisher.

Parameters

[in]	pub	The ROS publisher.
[in]	params	ROS parameters from which the configuration of the diagnostic task is taken.
[in]	defaultParams	Default parameters used when no ROS parameter exists.

See also

DiagnosedPubSub

DiagnosedPublisher() [4/7]

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

cras::DiagnosedPublisher< Message, Enable >::DiagnosedPublisher	(	const ::ros::Publisher &	pub,
		const ::cras::BoundParamHelperPtr &	params
	)

Add a topic diagnostic task to the publisher.

Parameters

[in]	pub	The ROS publisher.
[in]	params	ROS parameters from which the configuration of the diagnostic task is taken.

See also

DiagnosedPubSub

DiagnosedPublisher() [5/7]

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

cras::DiagnosedPublisher< Message, Enable >::DiagnosedPublisher	(	const ::ros::Publisher &	pub,
		::diagnostic_updater::Updater &	updater,
		const ::cras::BoundParamHelperPtr &	params
	)

DiagnosedPublisher() [6/7]

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

cras::DiagnosedPublisher< Message, Enable >::DiagnosedPublisher	(	const ::ros::Publisher &	pub,
		::diagnostic_updater::Updater &	updater,
		const ::cras::BoundParamHelperPtr &	params,
		const ::ros::Rate &	defaultRate
	)

DiagnosedPublisher() [7/7]

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

cras::DiagnosedPublisher< Message, Enable >::DiagnosedPublisher	(	const ::ros::Publisher &	pub,
		::diagnostic_updater::Updater &	updater,
		const ::cras::BoundParamHelperPtr &	params,
		const ::ros::Rate &	defaultRate,
		const ::ros::Rate &	defaultMinRate,
		const ::ros::Rate &	defaultMaxRate
	)

Member Function Documentation

getDesiredRate()

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

::ros::Rate cras::DiagnosedPublisher< Message, Enable >::getDesiredRate

(

)

const

getPublisher() [1/2]

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

::ros::Publisher& cras::DiagnosedPublisher< Message, Enable >::getPublisher

(

)

Get the ROS publisher.

Returns

The ROS publisher.

getPublisher() [2/2]

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

const ::ros::Publisher& cras::DiagnosedPublisher< Message, Enable >::getPublisher

(

)

const

Get the ROS publisher.

Returns

The ROS publisher.

publish() [1/2]

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

virtual void cras::DiagnosedPublisher< Message, Enable >::publish ( const Message &  message )

virtual

Publish a message.

Parameters

[in]

message

The message to publish.

publish() [2/2]

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

virtual void cras::DiagnosedPublisher< Message, Enable >::publish ( const typename Message::Ptr &  message )

virtual

Publish a message.

Parameters

[in]

message

The message to publish.

setPublisher()

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

void cras::DiagnosedPublisher< Message, Enable >::setPublisher

(

const ::ros::Publisher &

pub

)

Change the ROS publisher.

Parameters

[in]

pub

The new ROS publisher.

Member Data Documentation

publisher

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

::ros::Publisher cras::DiagnosedPublisher< Message, Enable >::publisher

protected

The ROS publisher.

Definition at line 221 of file diagnosed_pub_sub.hpp.

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

• diagnosed_pub_sub.hpp