cras::NodeWithOptionalMaster Class Reference

Node that can run both with and without a ROS master. This can be useful for one-off scripts that do not need to publish or subscribe anything, but they want to make use of the parameter processing and name remapping. More...

#include <node_with_optional_master.h>

Inheritance diagram for cras::NodeWithOptionalMaster:

Public Member Functions
::cras::BoundParamHelperPtr	getPrivateParams () const
	Get private parameters of the node. More...
void	init (const ::ros::M_string &remappings, const ::std::string &name, uint32_t options)
	Initialize the node, autodetecting whether a ros master is running or not. More...
void	init (const ::ros::VP_string &remappings, const ::std::string &name, uint32_t options)
	Initialize the node, autodetecting whether a ros master is running or not. More...
void	init (int &argc, char **argv, const ::std::string &name, uint32_t options)
	Initialize the node, autodetecting whether a ros master is running or not. More...
bool	isInitialized () const
	Has init() been called? More...
	NodeWithOptionalMaster (const ::cras::LogHelperPtr &log)
bool	ok () const
	Equivalent of ros::ok() . More...
::std::string	resolveName (const ::std::string &name, bool remap=true) const
	Resolve a name relative to the global namespace. More...
void	shutdown ()
	Shutdown the node. More...
bool	usesMaster () const
	Is a live ROS master being used? More...
virtual	~NodeWithOptionalMaster ()
Public 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...

Private Attributes
::std::unique_ptr< NodeWithOptionalMasterPrivate >	data
	PIMPL. More...

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

Detailed Description

Node that can run both with and without a ROS master. This can be useful for one-off scripts that do not need to publish or subscribe anything, but they want to make use of the parameter processing and name remapping.

This class provides an interface similar to ros::NodeHandle. However, when init() is called, it first checks whether the rosmaster is running and can be contacted. If not, this class falls back to a mode with no master. It will still provide parameters and name resolving, however, only for the parameters and remaps directly specified when launching the node. When running without master, simulation time is never used.

Definition at line 33 of file node_with_optional_master.h.

Constructor & Destructor Documentation

NodeWithOptionalMaster()

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

explicit

Parameters

[in]

log

Logger.

~NodeWithOptionalMaster()

virtual cras::NodeWithOptionalMaster::~NodeWithOptionalMaster ( )

virtual

Member Function Documentation

getPrivateParams()

::cras::BoundParamHelperPtr cras::NodeWithOptionalMaster::getPrivateParams

(

)

const

Get private parameters of the node.

Returns

The parameters object.

Remarks

When running without master, only parameters directly specified in remappings will be available.

init() [1/3]

void cras::NodeWithOptionalMaster::init	(	const ::ros::M_string &	remappings,
		const ::std::string &	name,
		uint32_t	options
	)

Initialize the node, autodetecting whether a ros master is running or not.

Parameters

[in]	remappings	Remappings of parameters and topics.
[in]	name	Node name.
[in]	options	Node init options.

init() [2/3]

void cras::NodeWithOptionalMaster::init	(	const ::ros::VP_string &	remappings,
		const ::std::string &	name,
		uint32_t	options
	)

Initialize the node, autodetecting whether a ros master is running or not.

Parameters

[in]	remappings	Remappings of parameters and topics.
[in]	name	Node name.
[in]	options	Node init options.

init() [3/3]

void cras::NodeWithOptionalMaster::init	(	int &	argc,
		char **	argv,
		const ::std::string &	name,
		uint32_t	options
	)

Initialize the node, autodetecting whether a ros master is running or not.

Parameters

[in]	argc	Nr. of CLI args.
[in]	argv	CLI args.
[in]	name	Node name.
[in]	options	Node init options.

isInitialized()

bool cras::NodeWithOptionalMaster::isInitialized

(

)

const

Has init() been called?

ok()

bool cras::NodeWithOptionalMaster::ok

(

)

const

Equivalent of ros::ok() .

resolveName()

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

Resolve a name relative to the global namespace.

Parameters

name	The name to be resolved (cannot start with ~).
remap	Whether remapping should be applied.

Returns

The resolved name.

shutdown()

void cras::NodeWithOptionalMaster::shutdown

(

)

Shutdown the node.

usesMaster()

bool cras::NodeWithOptionalMaster::usesMaster

(

)

const

Is a live ROS master being used?

Member Data Documentation

data

::std::unique_ptr<NodeWithOptionalMasterPrivate> cras::NodeWithOptionalMaster::data

private

PIMPL.

Definition at line 103 of file node_with_optional_master.h.

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

• node_with_optional_master.h