A nodelet manager that can share its TF buffer with cras::NodeletWithSharedTfBuffer nodelets. More...

#include <nodelet_manager_sharing_tf_buffer.h>

Inheritance diagram for cras::NodeletManagerSharingTfBuffer:

[legend]

Public Member Functions
void	init () override
	Initialize all class members. More...

	NodeletManagerSharingTfBuffer (::ros::NodeHandle nh={"~"})
	Create the nodelet manager. More...

void	reset () override
	Do the resetting. Subclasses have to implement the logic. More...

Public Member Functions inherited from cras::NodeletManager
	NodeletManager (::ros::NodeHandle nh={"~"})
	Create the nodelet manager. More...

Public Member Functions inherited from cras::TimeJumpResettable
void	checkTimeJump ()
	Check if ROS time has not jumped back. If it did, call reset(). More...

virtual void	checkTimeJump (const ::ros::Time &now)
	Check if ROS time has not jumped back. If it did, call reset(). More...

void	initRos (const ::ros::NodeHandle &pnh) override
	Initialize the ROS part of the interface - subscriber to /reset and ~reset topics, read time jump limits. More...

void	startAutoCheckTimeJump ()
	Start a background 1 Hz timer that automatically checks for time jumps. More...

virtual void	startAutoCheckTimeJump (const ::ros::WallRate &rate)
	Start a background timer that automatically checks for time jumps. More...

virtual void	stopAutoCheckTimeJump ()
	Stop the timer that automatically checks for time jumps. More...

	TimeJumpResettable (const ::cras::LogHelperPtr &log)
	Create the resettable interface. To also wire up to the reset topics and time jump resets, call initRos(). More...

	~TimeJumpResettable () override

Public Member Functions inherited from cras::Resettable
	Resettable (const ::cras::LogHelperPtr &log)
	Create the resettable interface. To also wire up to the reset topics, call initRos(). More...

virtual	~Resettable ()

Protected Member Functions
::boost::shared_ptr<::nodelet::Nodelet >	createInstance (const ::std::string &lookupName) override

Protected Member Functions inherited from cras::NodeletManager
virtual ::boost::shared_ptr<::nodelet::Nodelet >	createInstance (const ::std::string &lookupName)
	Create an instance of the given type. More...

Protected Attributes
::std::shared_ptr<::tf2_ros::Buffer >	buffer
	The shared TF buffer. More...

::std::unique_ptr<::tf2_ros::TransformListener >	listener
	TF listener filling the shared buffer. More...

Protected Attributes inherited from cras::NodeletManager
::std::unique_ptr< ClassLoader >	classLoader
	Class loader used for loading nodelets. More...

::std::unique_ptr<::nodelet::Loader >	loader
	Nodelet loader that loads and runs the nodelets. More...

::std::unique_ptr<::cras::LoaderROS >	loaderRos
	ROS API for the nodelet manager. More...

::ros::NodeHandle	nh
	Node handle for the ROS API services. More...

Additional Inherited Members
Protected Types inherited from cras::NodeletManager
typedef ::pluginlib::ClassLoader<::nodelet::Nodelet >	ClassLoader
	Type of the class loader used for loading nodelets. More...

Detailed Description

A nodelet manager that can share its TF buffer with cras::NodeletWithSharedTfBuffer nodelets.

Definition at line 31 of file nodelet_manager_sharing_tf_buffer.h.

Constructor & Destructor Documentation

◆ NodeletManagerSharingTfBuffer()

cras::NodeletManagerSharingTfBuffer::NodeletManagerSharingTfBuffer ( ::ros::NodeHandle nh = {"~"} )

explicit

Create the nodelet manager.

Parameters

[in] nh The nodehandle used for nodelet load/unload ROS services.

Member Function Documentation

◆ createInstance()

::boost::shared_ptr<::nodelet::Nodelet> cras::NodeletManagerSharingTfBuffer::createInstance ( const ::std::string & lookupName )

overrideprotected

◆ init()

void cras::NodeletManagerSharingTfBuffer::init ( )

overridevirtual

Initialize all class members.

Reimplemented from cras::NodeletManager.

◆ reset()

void cras::NodeletManagerSharingTfBuffer::reset ( )

overridevirtual

Do the resetting. Subclasses have to implement the logic.

Implements cras::Resettable.

Member Data Documentation

◆ buffer

::std::shared_ptr<::tf2_ros::Buffer> cras::NodeletManagerSharingTfBuffer::buffer

protected

The shared TF buffer.

Definition at line 48 of file nodelet_manager_sharing_tf_buffer.h.

◆ listener

::std::unique_ptr<::tf2_ros::TransformListener> cras::NodeletManagerSharingTfBuffer::listener

protected

TF listener filling the shared buffer.

Definition at line 51 of file nodelet_manager_sharing_tf_buffer.h.

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

nodelet_manager_sharing_tf_buffer.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members