foxglove_bridge Namespace Reference

Classes
class	FoxgloveBridge
class	GenericClient
struct	GenericService
class	ParameterInterface

Typedefs
using	ClientPublications = std::unordered_map< foxglove::ClientChannelId, ros::Publisher >
using	ConnectionHandle = websocketpp::connection_hdl
using	LogLevel = foxglove::WebSocketLogLevel
using	ParameterList = std::vector< foxglove::Parameter >
using	ParamUpdateFunc = std::function< void(const ParameterList &)>
using	Publication = rclcpp::GenericPublisher::SharedPtr
using	PublicationsByClient = std::map< ConnectionHandle, ClientPublications, std::owner_less<> >
using	Subscription = rclcpp::GenericSubscription::SharedPtr
using	SubscriptionsByClient = std::map< ConnectionHandle, ros::Subscriber, std::owner_less<> >
using	TopicAndDatatype = std::pair< std::string, std::string >

Functions
std::shared_ptr< void >	allocate_message (const MessageMembers *members)
void	declareParameters (rclcpp::Node *node)
foxglove::Parameter	fromRosParam (const std::string &name, const XmlRpc::XmlRpcValue &value)
foxglove::ParameterValue	fromRosParam (const XmlRpc::XmlRpcValue &value)
std::pair< std::string, std::string >	getNodeAndNodeNamespace (const std::string &fqnNodeName)
std::string	getServiceTypeSupportHandleSymbolName (const std::string &serviceType)
std::string	getTypeIntrospectionSymbolName (const std::string &serviceType)
std::vector< std::regex >	parseRegexPatterns (const std::vector< std::string > &strings)
std::vector< std::regex >	parseRegexStrings (rclcpp::Node *node, const std::vector< std::string > &strings)
std::string	retrieveServiceType (const std::string &serviceName, std::chrono::milliseconds timeout_ms)
std::vector< std::string >	splitMessageDefinitions (std::istream &stream)
XmlRpc::XmlRpcValue	toRosParam (const foxglove::ParameterValue &param)
std::string	trimString (std::string &str)

Variables
constexpr char	DEFAULT_ADDRESS [] = "0.0.0.0"
constexpr int64_t	DEFAULT_MAX_QOS_DEPTH = 25
constexpr int	DEFAULT_MAX_UPDATE_MS = 5000
constexpr int64_t	DEFAULT_MIN_QOS_DEPTH = 1
constexpr int	DEFAULT_PORT = 8765
constexpr int64_t	DEFAULT_SEND_BUFFER_LIMIT = 10000000
constexpr int	DEFAULT_SERVICE_TYPE_RETRIEVAL_TIMEOUT_MS = 250
constexpr int	MAX_INVALID_PARAMS_TRACKED = 1000
constexpr double	MIN_UPDATE_PERIOD_MS = 100.0
constexpr char	PARAM_ADDRESS [] = "address"
constexpr char	PARAM_ASSET_URI_ALLOWLIST [] = "asset_uri_allowlist"
constexpr char	PARAM_BEST_EFFORT_QOS_TOPIC_WHITELIST [] = "best_effort_qos_topic_whitelist"
constexpr char	PARAM_CAPABILITIES [] = "capabilities"
constexpr char	PARAM_CERTFILE [] = "certfile"
constexpr char	PARAM_CLIENT_TOPIC_WHITELIST [] = "client_topic_whitelist"
constexpr char	PARAM_DISABLE_LOAN_MESSAGE [] = "disable_load_message"
constexpr char	PARAM_INCLUDE_HIDDEN [] = "include_hidden"
constexpr char	PARAM_KEYFILE [] = "keyfile"
constexpr char	PARAM_MAX_QOS_DEPTH [] = "max_qos_depth"
constexpr char	PARAM_MIN_QOS_DEPTH [] = "min_qos_depth"
constexpr char	PARAM_PARAMETER_WHITELIST [] = "param_whitelist"
constexpr char	PARAM_PORT [] = "port"
constexpr char	PARAM_SEND_BUFFER_LIMIT [] = "send_buffer_limit"
constexpr char	PARAM_SERVICE_WHITELIST [] = "service_whitelist"
constexpr char	PARAM_TOPIC_WHITELIST [] = "topic_whitelist"
constexpr char	PARAM_USE_COMPRESSION [] = "use_compression"
constexpr char	PARAM_USETLS [] = "tls"
constexpr uint32_t	PUBLICATION_QUEUE_LENGTH = 10
constexpr char	ROS1_CHANNEL_ENCODING [] = "ros1"
constexpr uint32_t	SUBSCRIPTION_QUEUE_LENGTH = 10
constexpr char	TYPESUPPORT_INTROSPECTION_LIB_NAME [] = "rosidl_typesupport_introspection_cpp"
constexpr char	TYPESUPPORT_LIB_NAME [] = "rosidl_typesupport_cpp"

Typedef Documentation

ClientPublications

typedef std::unordered_map< foxglove::ClientChannelId, Publication > foxglove_bridge::ClientPublications

Definition at line 56 of file ros1_foxglove_bridge_nodelet.cpp.

ConnectionHandle

typedef websocketpp::connection_hdl foxglove_bridge::ConnectionHandle

Definition at line 53 of file ros1_foxglove_bridge_nodelet.cpp.

LogLevel

using foxglove_bridge::LogLevel = typedef foxglove::WebSocketLogLevel

Definition at line 27 of file ros2_foxglove_bridge.hpp.

ParameterList

using foxglove_bridge::ParameterList = typedef std::vector<foxglove::Parameter>

Definition at line 17 of file parameter_interface.hpp.

ParamUpdateFunc

using foxglove_bridge::ParamUpdateFunc = typedef std::function<void(const ParameterList&)>

Definition at line 18 of file parameter_interface.hpp.

Publication

using foxglove_bridge::Publication = typedef rclcpp::GenericPublisher::SharedPtr

Definition at line 30 of file ros2_foxglove_bridge.hpp.

PublicationsByClient

typedef std::map< ConnectionHandle, ClientPublications, std::owner_less<> > foxglove_bridge::PublicationsByClient

Definition at line 57 of file ros1_foxglove_bridge_nodelet.cpp.

Subscription

using foxglove_bridge::Subscription = typedef rclcpp::GenericSubscription::SharedPtr

Definition at line 28 of file ros2_foxglove_bridge.hpp.

SubscriptionsByClient

typedef std::map< ConnectionHandle, Subscription, std::owner_less<> > foxglove_bridge::SubscriptionsByClient

Definition at line 55 of file ros1_foxglove_bridge_nodelet.cpp.

TopicAndDatatype

using foxglove_bridge::TopicAndDatatype = typedef std::pair<std::string, std::string>

Definition at line 54 of file ros1_foxglove_bridge_nodelet.cpp.

Function Documentation

allocate_message()

std::shared_ptr<void> foxglove_bridge::allocate_message

(

const MessageMembers *

members

)

Definition at line 46 of file generic_client.cpp.

declareParameters()

void foxglove_bridge::declareParameters

(

rclcpp::Node *

node

)

Definition at line 8 of file ros2_foxglove_bridge/src/param_utils.cpp.

fromRosParam() [1/2]

foxglove::Parameter foxglove_bridge::fromRosParam	(	const std::string &	name,
		const XmlRpc::XmlRpcValue &	value
	)

Definition at line 39 of file ros1_foxglove_bridge/src/param_utils.cpp.

fromRosParam() [2/2]

foxglove::ParameterValue foxglove_bridge::fromRosParam

(

const XmlRpc::XmlRpcValue &

value

)

Definition at line 9 of file ros1_foxglove_bridge/src/param_utils.cpp.

getNodeAndNodeNamespace()

std::pair<std::string, std::string> foxglove_bridge::getNodeAndNodeNamespace ( const std::string &  fqnNodeName )

inline

Definition at line 12 of file utils.hpp.

getServiceTypeSupportHandleSymbolName()

std::string foxglove_bridge::getServiceTypeSupportHandleSymbolName

(

const std::string &

serviceType

)

The default symbol names for getting type support handles for services are missing from the rosidl_typesupport_cpp shared libraries, see https://github.com/ros2/rosidl_typesupport/issues/122

We can however, as a (hacky) workaround, use other symbols defined in the shared library. With nm -C -D /opt/ros/humble/lib/libtest_msgs__rosidl_typesupport_cpp.so we see that there is rosidl_service_type_support_t const* rosidl_typesupport_cpp::get_service_type_support_handle<test_msgs::srv::BasicTypes>() which mangled becomes _ZN22rosidl_typesupport_cpp31get_service_type_support_handleIN9test_msgs3srv10BasicTypesEEEPK29rosidl_service_type_support_tv This is the same for galactic, humble and rolling (tested with gcc / clang)

This function produces the mangled symbol name for a given service type.

Parameters

[in]

serviceType

The service type, e.g. "test_msgs/srv/BasicTypes"

Returns

Symbol name for getting the service type support handle

Definition at line 81 of file generic_client.cpp.

getTypeIntrospectionSymbolName()

std::string foxglove_bridge::getTypeIntrospectionSymbolName

(

const std::string &

serviceType

)

Definition at line 56 of file generic_client.cpp.

parseRegexPatterns()

std::vector< std::regex > foxglove_bridge::parseRegexPatterns

(

const std::vector< std::string > &

strings

)

Definition at line 75 of file ros1_foxglove_bridge/src/param_utils.cpp.

parseRegexStrings()

std::vector< std::regex > foxglove_bridge::parseRegexStrings	(	rclcpp::Node *	node,
		const std::vector< std::string > &	strings
	)

Definition at line 184 of file ros2_foxglove_bridge/src/param_utils.cpp.

retrieveServiceType()

std::string foxglove_bridge::retrieveServiceType	(	const std::string &	serviceName,
		std::chrono::milliseconds	timeout
	)

Opens a socket to the service server and retrieves the service type from the connection header. This is necessary as the service type is not stored on the ROS master.

Looks up the service server host & port and opens a TCP connection to it to retrieve the header which contains the service type.

The implementation is similar to how ROS does it under the hood when creating a service server link: https://github.com/ros/ros_comm/blob/845f74602c7464e08ef5ac6fd9e26c97d0fe42c9/clients/roscpp/src/libros/service_manager.cpp#L246-L261 https://github.com/ros/ros_comm/blob/845f74602c7464e08ef5ac6fd9e26c97d0fe42c9/clients/roscpp/src/libros/service_server_link.cpp#L114-L130

Definition at line 24 of file service_utils.cpp.

splitMessageDefinitions()

std::vector<std::string> foxglove_bridge::splitMessageDefinitions ( std::istream &  stream )

inline

Definition at line 27 of file utils.hpp.

toRosParam()

XmlRpc::XmlRpcValue foxglove_bridge::toRosParam

(

const foxglove::ParameterValue &

param

)

Definition at line 43 of file ros1_foxglove_bridge/src/param_utils.cpp.

trimString()

std::string foxglove_bridge::trimString ( std::string &  str )

inline

Definition at line 20 of file utils.hpp.

Variable Documentation

DEFAULT_ADDRESS

constexpr char foxglove_bridge::DEFAULT_ADDRESS = "0.0.0.0"

constexpr

Definition at line 44 of file ros1_foxglove_bridge_nodelet.cpp.

DEFAULT_MAX_QOS_DEPTH

constexpr int64_t foxglove_bridge::DEFAULT_MAX_QOS_DEPTH = 25

constexpr

Definition at line 34 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

DEFAULT_MAX_UPDATE_MS

constexpr int foxglove_bridge::DEFAULT_MAX_UPDATE_MS = 5000

constexpr

Definition at line 45 of file ros1_foxglove_bridge_nodelet.cpp.

DEFAULT_MIN_QOS_DEPTH

constexpr int64_t foxglove_bridge::DEFAULT_MIN_QOS_DEPTH = 1

constexpr

Definition at line 33 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

DEFAULT_PORT

constexpr int64_t foxglove_bridge::DEFAULT_PORT = 8765

constexpr

Definition at line 43 of file ros1_foxglove_bridge_nodelet.cpp.

DEFAULT_SEND_BUFFER_LIMIT

constexpr int64_t foxglove_bridge::DEFAULT_SEND_BUFFER_LIMIT = 10000000

constexpr

Definition at line 32 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

DEFAULT_SERVICE_TYPE_RETRIEVAL_TIMEOUT_MS

constexpr int foxglove_bridge::DEFAULT_SERVICE_TYPE_RETRIEVAL_TIMEOUT_MS = 250

constexpr

Definition at line 50 of file ros1_foxglove_bridge_nodelet.cpp.

MAX_INVALID_PARAMS_TRACKED

constexpr int foxglove_bridge::MAX_INVALID_PARAMS_TRACKED = 1000

constexpr

Definition at line 51 of file ros1_foxglove_bridge_nodelet.cpp.

MIN_UPDATE_PERIOD_MS

constexpr double foxglove_bridge::MIN_UPDATE_PERIOD_MS = 100.0

constexpr

Definition at line 48 of file ros1_foxglove_bridge_nodelet.cpp.

PARAM_ADDRESS

constexpr char foxglove_bridge::PARAM_ADDRESS[] = "address"

constexpr

Definition at line 12 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_ASSET_URI_ALLOWLIST

constexpr char foxglove_bridge::PARAM_ASSET_URI_ALLOWLIST[] = "asset_uri_allowlist"

constexpr

Definition at line 28 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_BEST_EFFORT_QOS_TOPIC_WHITELIST

constexpr char foxglove_bridge::PARAM_BEST_EFFORT_QOS_TOPIC_WHITELIST[] = "best_effort_qos_topic_whitelist"

constexpr

Definition at line 19 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_CAPABILITIES

constexpr char foxglove_bridge::PARAM_CAPABILITIES[] = "capabilities"

constexpr

Definition at line 24 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_CERTFILE

constexpr char foxglove_bridge::PARAM_CERTFILE[] = "certfile"

constexpr

Definition at line 15 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_CLIENT_TOPIC_WHITELIST

constexpr char foxglove_bridge::PARAM_CLIENT_TOPIC_WHITELIST[] = "client_topic_whitelist"

constexpr

Definition at line 25 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_DISABLE_LOAN_MESSAGE

constexpr char foxglove_bridge::PARAM_DISABLE_LOAN_MESSAGE[] = "disable_load_message"

constexpr

Definition at line 27 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_INCLUDE_HIDDEN

constexpr char foxglove_bridge::PARAM_INCLUDE_HIDDEN[] = "include_hidden"

constexpr

Definition at line 26 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_KEYFILE

constexpr char foxglove_bridge::PARAM_KEYFILE[] = "keyfile"

constexpr

Definition at line 16 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_MAX_QOS_DEPTH

constexpr char foxglove_bridge::PARAM_MAX_QOS_DEPTH[] = "max_qos_depth"

constexpr

Definition at line 18 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_MIN_QOS_DEPTH

constexpr char foxglove_bridge::PARAM_MIN_QOS_DEPTH[] = "min_qos_depth"

constexpr

Definition at line 17 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_PARAMETER_WHITELIST

constexpr char foxglove_bridge::PARAM_PARAMETER_WHITELIST[] = "param_whitelist"

constexpr

Definition at line 22 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_PORT

constexpr char foxglove_bridge::PARAM_PORT[] = "port"

constexpr

Definition at line 11 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_SEND_BUFFER_LIMIT

constexpr char foxglove_bridge::PARAM_SEND_BUFFER_LIMIT[] = "send_buffer_limit"

constexpr

Definition at line 13 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_SERVICE_WHITELIST

constexpr char foxglove_bridge::PARAM_SERVICE_WHITELIST[] = "service_whitelist"

constexpr

Definition at line 21 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_TOPIC_WHITELIST

constexpr char foxglove_bridge::PARAM_TOPIC_WHITELIST[] = "topic_whitelist"

constexpr

Definition at line 20 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_USE_COMPRESSION

constexpr char foxglove_bridge::PARAM_USE_COMPRESSION[] = "use_compression"

constexpr

Definition at line 23 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PARAM_USETLS

constexpr char foxglove_bridge::PARAM_USETLS[] = "tls"

constexpr

Definition at line 14 of file ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp.

PUBLICATION_QUEUE_LENGTH

constexpr uint32_t foxglove_bridge::PUBLICATION_QUEUE_LENGTH = 10

constexpr

Definition at line 49 of file ros1_foxglove_bridge_nodelet.cpp.

ROS1_CHANNEL_ENCODING

constexpr char foxglove_bridge::ROS1_CHANNEL_ENCODING[] = "ros1"

constexpr

Definition at line 46 of file ros1_foxglove_bridge_nodelet.cpp.

SUBSCRIPTION_QUEUE_LENGTH

constexpr uint32_t foxglove_bridge::SUBSCRIPTION_QUEUE_LENGTH = 10

constexpr

Definition at line 47 of file ros1_foxglove_bridge_nodelet.cpp.

TYPESUPPORT_INTROSPECTION_LIB_NAME

constexpr char foxglove_bridge::TYPESUPPORT_INTROSPECTION_LIB_NAME[] = "rosidl_typesupport_introspection_cpp"

constexpr

Definition at line 41 of file generic_client.cpp.

TYPESUPPORT_LIB_NAME

constexpr char foxglove_bridge::TYPESUPPORT_LIB_NAME[] = "rosidl_typesupport_cpp"

constexpr

Definition at line 42 of file generic_client.cpp.