Nodelet for relaying messages and changing their header. More...

#include <change_header.h>

Inheritance diagram for cras::ChangeHeaderNodelet:

[legend]

Protected Member Functions
void	onInit () override

virtual void	processMessage (const ::ros::MessageEvent< const ::topic_tools::ShapeShifter > &event, ::ros::Publisher &pub)
	Change the header of the incoming message and publish the result. More...

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
::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)

::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)

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

::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)

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

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

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

::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)

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

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

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

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

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

::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)

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

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

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

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

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

	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(), 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, ::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, ""),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	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(::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,))

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

::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)

::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)

::ros::NodeHandle	getDefaultDiagNh (const ::ros::NodeHandle &pubSubNh, const ::std::string &diagNamespace)

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

::cras::DiagnosticUpdater &	getDiagUpdater (bool forceNew=false) const

void	startDiagTimer () const

void	startDiagTimer (const ::ros::NodeHandle &nh) const

void	stopDiagTimer () const

::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)

::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={})

::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={})

::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={})

::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={})

::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={})

::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={})

::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={})

Protected Member Functions inherited from cras::TimeJumpResettable
void	checkTimeJump ()

virtual void	checkTimeJump (const ::ros::Time &now)

void	initRos (const ::ros::NodeHandle &pnh) override

void	startAutoCheckTimeJump ()

virtual void	startAutoCheckTimeJump (const ::ros::WallRate &rate)

virtual void	stopAutoCheckTimeJump ()

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

	~TimeJumpResettable () override

Protected Member Functions inherited from cras::Resettable
	Resettable (const ::cras::LogHelperPtr &log)

virtual	~Resettable ()

Protected Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
void	updateThreadName () const

Protected Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

::cras::BoundParamHelperPtr	params (const ::ros::NodeHandle &node, const ::std::string &ns="") const

::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node) const

::cras::BoundParamHelperPtr	privateParams (const ::std::string &ns="") const

::cras::BoundParamHelperPtr	publicParams (const ::std::string &ns="") const

Protected Attributes
::cras::optional< bool >	hasHeader {::cras::nullopt}
	Whether the subscribed topic has a header field. This is filled on receipt of the first message. More...

::cras::optional<::std::string >	newFrameId
	Replace the whole frame_id with this value. More...

::cras::optional<::std::string >	newFrameIdPrefix
	Prefix frame_id with this value. More...

::cras::optional<::std::pair<::std::string, ::std::string > >	newFrameIdReplace
	Replace all occurrences of first string with the second one in frame_id. More...

::cras::optional<::std::pair<::std::string, ::std::string > >	newFrameIdReplaceEnd
	If frame_id ends with the first string, replace it with the second one. More...

::cras::optional<::std::pair<::std::string, ::std::string > >	newFrameIdReplaceStart
	If frame_id starts with the first string, replace it with the second one. More...

::cras::optional<::std::string >	newFrameIdSuffix
	Suffix frame_id with this value. More...

::cras::optional<::ros::Time >	newStampAbs
	Replace stamp with the given value. More...

::cras::optional<::ros::Duration >	newStampRel
	Add this value to stamp. In case of under/overflow, TIME_MIN or TIME_MAX are set. More...

bool	newStampRosTime {false}
	Change stamp to current ROS time. More...

bool	newStampWallTime {false}
	Change stamp to current wall time. More...

::std::unique_ptr<::cras::GenericLazyPubSub >	pubSub
	The lazy pair of subscriber and publisher. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration

Additional Inherited Members
Public Member Functions inherited from cras::Nodelet
	~Nodelet () override=default

Public Member Functions inherited from NodeletBase<::nodelet::Nodelet >
	~NodeletBase () override=default

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

Public Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
	NodeletWithDiagnostics ()

virtual	~NodeletWithDiagnostics ()

Public Member Functions inherited from NodeletWithSharedTfBuffer< ::nodelet::Nodelet >
::cras::NodeletAwareTFBuffer &	getBuffer () const override

	NodeletWithSharedTfBuffer ()

void	reset () override

void	setBuffer (const ::std::shared_ptr<::tf2_ros::Buffer > &buffer) override

bool	usesSharedBuffer () const override

virtual	~NodeletWithSharedTfBuffer ()

Public Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
	~ThreadNameUpdatingNodelet () override

Public Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
	NodeletParamHelper ()

	~NodeletParamHelper () override

Public Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

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

void	setLogger (const ::cras::LogHelperPtr &logger)

virtual	~ParamHelper ()=default

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

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

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Public Member Functions inherited from StatefulNodelet< ::nodelet::Nodelet >
bool	ok () const override

void	requestStop () override

void	shutdown ()

virtual	~StatefulNodelet ()

Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const

virtual	~InterruptibleSleepInterface ()

Detailed Description

Nodelet for relaying messages and changing their header.

ROS parameters:

~in_queue_size (uint, default 10): Queue size for the subscriber.
~out_queue_size (uint, default $in_queue_size): Queue size for the publisher.
~lazy (bool, default False): Whether to shut down the subscriber when the publisher has no subscribers. The ~input topic will be subscribed in the beginning, and will unsubscribe automatically after the first message is received (this is needed to determine the full type of the topic to publish).
~tcp_no_delay (bool, default False): If True, the TCP_NODELAY flag is set for the subscriber. This should decrease the latency of small messages, but might give suboptimal transmission speed for large messages.
~frame_id_prefix (string, no default): If set, frame_id will be prefixed with this string.
~frame_id_suffix (string, no default): If set, frame_id will be suffixed with this string.
~frame_id (string, no default): If set, frame_id will be replaced by this string.
~frame_id_replace_start (string "from|to", no default): If set and frame_id starts with from, it will be replaced with to.
~frame_id_replace_end (string "from|to", no default): If set and frame_id ends with from, it will be replaced with to.
~frame_id_replace (string "from|to", no default): If set, all occurrences of from in frame_id will be replaced with to.
~stamp_relative (double, no default): If set, the given duration will be added to the message's stamp. If the stamp would under/overflow, ros::TIME_MIN or ros::TIME_MAX will be set.
~stamp (double, no default): If set, the message's stamp will be set to this time (stamp_relative will not apply if set).
~stamp_ros_time (bool, default false): If true, message stamp will be changed to current ROS time. stamp_relativecan be used in combination with this option. -~stamp_wall_time (bool, default false): If true, message stamp will be changed to current wall time. stamp_relative can be used in combination with this option.

Subscribed topics:

~input (any type with header): The input messages. If lazy is true, it will only be subscribed when ~output has some subscribers. If you subscribe to a message type without header, the node should not crash, but it will discard all received messages and print an error message.

Published topics:

~output (same type as ~input): The relayed output messages with changed header.

Command-line arguments: This nodelet (or node) can also be called in a way backwards compatible with topic_tools/relay. This means you can pass CLI arguments specifying the topics to subscribe/publish.

rosrun cras_topic_tools relay TOPIC_IN [TOPIC_OUT]
- TOPIC_IN: The topic to subscribe. It is resolved against parent namespace of the node(let) (as opposed to the ~input topic which is resolved against the private node(let) namespace).
- TOPIC_OUT: The topic to publish. It is resolved against parent namespace of the node(let) (as opposed to the ~output topic which is resolved against the private node(let) namespace). If not specified, output topic will be ${TOPIC_IN}_relay.

Note: A copy of the received message will be made in any case to allow modification of the header. If you set frame_id to a longer string, another copy of the message will be made to make space for the prolonged ID.

Definition at line 84 of file change_header.h.

Member Function Documentation

◆ onInit()

void cras::ChangeHeaderNodelet::onInit ( )

overrideprotectedvirtual

Reimplemented from NodeletBase<::nodelet::Nodelet >.

Definition at line 32 of file change_header.cpp.

◆ processMessage()

void cras::ChangeHeaderNodelet::processMessage	(	const ::ros::MessageEvent< const ::topic_tools::ShapeShifter > &	event,
		::ros::Publisher &	pub
	)

protectedvirtual

Change the header of the incoming message and publish the result.

Parameters

[in]	event	Event containing the received message.
[in]	pub	The publisher to use for publishing.

Definition at line 110 of file change_header.cpp.

Member Data Documentation

◆ hasHeader

::cras::optional<bool> cras::ChangeHeaderNodelet::hasHeader {::cras::nullopt}

protected

Whether the subscribed topic has a header field. This is filled on receipt of the first message.

Definition at line 131 of file change_header.h.

◆ newFrameId

::cras::optional<::std::string> cras::ChangeHeaderNodelet::newFrameId

protected

Replace the whole frame_id with this value.

Definition at line 101 of file change_header.h.

◆ newFrameIdPrefix

::cras::optional<::std::string> cras::ChangeHeaderNodelet::newFrameIdPrefix

protected

Prefix frame_id with this value.

Definition at line 104 of file change_header.h.

◆ newFrameIdReplace

::cras::optional<::std::pair<::std::string, ::std::string> > cras::ChangeHeaderNodelet::newFrameIdReplace

protected

Replace all occurrences of first string with the second one in frame_id.

Definition at line 110 of file change_header.h.

◆ newFrameIdReplaceEnd

::cras::optional<::std::pair<::std::string, ::std::string> > cras::ChangeHeaderNodelet::newFrameIdReplaceEnd

protected

If frame_id ends with the first string, replace it with the second one.

Definition at line 116 of file change_header.h.

◆ newFrameIdReplaceStart

::cras::optional<::std::pair<::std::string, ::std::string> > cras::ChangeHeaderNodelet::newFrameIdReplaceStart

protected

If frame_id starts with the first string, replace it with the second one.

Definition at line 113 of file change_header.h.

◆ newFrameIdSuffix

::cras::optional<::std::string> cras::ChangeHeaderNodelet::newFrameIdSuffix

protected

Suffix frame_id with this value.

Definition at line 107 of file change_header.h.

◆ newStampAbs

::cras::optional<::ros::Time> cras::ChangeHeaderNodelet::newStampAbs

protected

Replace stamp with the given value.

Definition at line 119 of file change_header.h.

◆ newStampRel

::cras::optional<::ros::Duration> cras::ChangeHeaderNodelet::newStampRel

protected

Add this value to stamp. In case of under/overflow, TIME_MIN or TIME_MAX are set.

Definition at line 122 of file change_header.h.

◆ newStampRosTime

bool cras::ChangeHeaderNodelet::newStampRosTime {false}

protected

Change stamp to current ROS time.

Definition at line 125 of file change_header.h.

◆ newStampWallTime

bool cras::ChangeHeaderNodelet::newStampWallTime {false}

protected

Change stamp to current wall time.

Definition at line 128 of file change_header.h.

◆ pubSub

::std::unique_ptr<::cras::GenericLazyPubSub> cras::ChangeHeaderNodelet::pubSub

protected

The lazy pair of subscriber and publisher.

Definition at line 88 of file change_header.h.

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

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ onInit()

◆ processMessage()

Member Data Documentation

◆ hasHeader

◆ newFrameId

◆ newFrameIdPrefix

◆ newFrameIdReplace

◆ newFrameIdReplaceEnd

◆ newFrameIdReplaceStart

◆ newFrameIdSuffix

◆ newStampAbs

◆ newStampRel

◆ newStampRosTime

◆ newStampWallTime

◆ pubSub