#include <interactive_marker_server.h>

Inheritance diagram for interactive_markers::InteractiveMarkerServer:

Classes
struct	MarkerContext

struct	UpdateContext

Public Types
typedef boost::function< void(const FeedbackConstPtr &) >	FeedbackCallback

typedef visualization_msgs::InteractiveMarkerFeedbackConstPtr	FeedbackConstPtr

Public Member Functions
INTERACTIVE_MARKERS_PUBLIC void	applyChanges ()

INTERACTIVE_MARKERS_PUBLIC void	clear ()

INTERACTIVE_MARKERS_PUBLIC bool	empty () const

INTERACTIVE_MARKERS_PUBLIC bool	erase (const std::string &name)

INTERACTIVE_MARKERS_PUBLIC bool	get (std::string name, visualization_msgs::InteractiveMarker &int_marker) const

INTERACTIVE_MARKERS_PUBLIC std::vector< std::string >	getNames ()

INTERACTIVE_MARKERS_PUBLIC void	insert (const visualization_msgs::InteractiveMarker &int_marker)

INTERACTIVE_MARKERS_PUBLIC void	insert (const visualization_msgs::InteractiveMarker &int_marker, FeedbackCallback feedback_cb, uint8_t feedback_type=DEFAULT_FEEDBACK_CB)

INTERACTIVE_MARKERS_PUBLIC	InteractiveMarkerServer (const std::string &topic_ns, const std::string &server_id="", bool spin_thread=false)

INTERACTIVE_MARKERS_PUBLIC bool	setCallback (const std::string &name, FeedbackCallback feedback_cb, uint8_t feedback_type=DEFAULT_FEEDBACK_CB)

INTERACTIVE_MARKERS_PUBLIC bool	setPose (const std::string &name, const geometry_msgs::Pose &pose, const std_msgs::Header &header=std_msgs::Header())

INTERACTIVE_MARKERS_PUBLIC std::size_t	size () const

INTERACTIVE_MARKERS_PUBLIC	~InteractiveMarkerServer ()
	Destruction of the interface will lead to all managed markers being cleared. More...

Static Public Attributes
static const uint8_t	DEFAULT_FEEDBACK_CB = 255

Private Types
typedef boost::unordered_map< std::string, MarkerContext >	M_MarkerContext

typedef boost::unordered_map< std::string, UpdateContext >	M_UpdateContext

Private Member Functions
void	doSetPose (M_UpdateContext::iterator update_it, const std::string &name, const geometry_msgs::Pose &pose, const std_msgs::Header &header)

void	keepAlive ()

void	processFeedback (const FeedbackConstPtr &feedback)

void	publish (visualization_msgs::InteractiveMarkerUpdate &update)

void	publishInit ()

void	spinThread ()

Private Attributes
ros::CallbackQueue	callback_queue_

ros::Subscriber	feedback_sub_

ros::Publisher	init_pub_

ros::Timer	keep_alive_timer_

M_MarkerContext	marker_contexts_

boost::recursive_mutex	mutex_

volatile bool	need_to_terminate_

ros::NodeHandle	node_handle_

M_UpdateContext	pending_updates_

uint64_t	seq_num_

std::string	server_id_

boost::scoped_ptr< boost::thread >	spin_thread_

std::string	topic_ns_

ros::Publisher	update_pub_

Detailed Description

Acts as a server to one or many GUIs (e.g. rviz) displaying a set of interactive markers

Note: Keep in mind that changes made by calling insert(), erase(), setCallback() etc. are not applied until calling applyChanges().

Definition at line 56 of file interactive_marker_server.h.

Member Typedef Documentation

◆ FeedbackCallback

typedef boost::function< void ( const FeedbackConstPtr& ) > interactive_markers::InteractiveMarkerServer::FeedbackCallback

Definition at line 61 of file interactive_marker_server.h.

◆ FeedbackConstPtr

typedef visualization_msgs::InteractiveMarkerFeedbackConstPtr interactive_markers::InteractiveMarkerServer::FeedbackConstPtr

Definition at line 60 of file interactive_marker_server.h.

◆ M_MarkerContext

typedef boost::unordered_map< std::string, MarkerContext > interactive_markers::InteractiveMarkerServer::M_MarkerContext

private

Definition at line 174 of file interactive_marker_server.h.

◆ M_UpdateContext

typedef boost::unordered_map< std::string, UpdateContext > interactive_markers::InteractiveMarkerServer::M_UpdateContext

private

Definition at line 189 of file interactive_marker_server.h.

Constructor & Destructor Documentation

◆ InteractiveMarkerServer()

interactive_markers::InteractiveMarkerServer::InteractiveMarkerServer	(	const std::string &	topic_ns,
		const std::string &	server_id = `""`,
		bool	spin_thread = `false`
	)

Parameters

topic_ns	The interface will use the topics topic_ns/update and topic_ns/feedback for communication.
server_id	If you run multiple servers on the same topic from within the same node, you will need to assign different names to them. Otherwise, leave this empty.
spin_thread	If set to true, will spin up a thread for message handling. All callbacks will be called from that thread.

Definition at line 42 of file interactive_marker_server.cpp.

◆ ~InteractiveMarkerServer()

interactive_markers::InteractiveMarkerServer::~InteractiveMarkerServer ( )

Destruction of the interface will lead to all managed markers being cleared.

Definition at line 81 of file interactive_marker_server.cpp.

Member Function Documentation

◆ applyChanges()

void interactive_markers::InteractiveMarkerServer::applyChanges ( )

Apply changes made since the last call to this method & broadcast an update to all clients.

Definition at line 110 of file interactive_marker_server.cpp.

◆ clear()

void interactive_markers::InteractiveMarkerServer::clear ( )

Clear all markers. Note: This change will not take effect until you call applyChanges().

Definition at line 205 of file interactive_marker_server.cpp.

◆ doSetPose()

void interactive_markers::InteractiveMarkerServer::doSetPose	(	M_UpdateContext::iterator	update_it,
		const std::string &	name,
		const geometry_msgs::Pose &	pose,
		const std_msgs::Header &	header
	)

private

Definition at line 493 of file interactive_marker_server.cpp.

◆ empty()

bool interactive_markers::InteractiveMarkerServer::empty ( ) const

Return whether the server contains any markers. Note: Does not include markers inserted since the last applyChanges().

Returns: true if the server contains no markers

Definition at line 219 of file interactive_marker_server.cpp.

◆ erase()

bool interactive_markers::InteractiveMarkerServer::erase ( const std::string & name )

Erase the marker with the specified name Note: This change will not take effect until you call applyChanges().

Returns: true if a marker with that name exists

Parameters

name	Name of the interactive marker

Definition at line 192 of file interactive_marker_server.cpp.

◆ get()

bool interactive_markers::InteractiveMarkerServer::get	(	std::string	name,
		visualization_msgs::InteractiveMarker &	int_marker
	)		const

Get marker by name

Parameters

	name	Name of the interactive marker
[out]	int_marker	Output message

Returns: true if a marker with that name exists

Definition at line 347 of file interactive_marker_server.cpp.

◆ getNames()

std::vector< std::string > interactive_markers::InteractiveMarkerServer::getNames ( )

Return all interactive markers names in the server

Parameters

[out] names Names of all the markers

Definition at line 391 of file interactive_marker_server.cpp.

◆ insert() [1/2]

void interactive_markers::InteractiveMarkerServer::insert ( const visualization_msgs::InteractiveMarker & int_marker )

Add or replace a marker without changing its callback functions. Note: Changes to the marker will not take effect until you call applyChanges(). The callback changes immediately.

Parameters

int_marker The marker to be added or replaced

Definition at line 325 of file interactive_marker_server.cpp.

◆ insert() [2/2]

void interactive_markers::InteractiveMarkerServer::insert	(	const visualization_msgs::InteractiveMarker &	int_marker,
		FeedbackCallback	feedback_cb,
		uint8_t	feedback_type = `DEFAULT_FEEDBACK_CB`
	)

Add or replace a marker and its callback functions Note: Changes to the marker will not take effect until you call applyChanges(). The callback changes immediately.

Parameters

int_marker	The marker to be added or replaced
feedback_cb	Function to call on the arrival of a feedback message.
feedback_type	Type of feedback for which to call the feedback.

Definition at line 339 of file interactive_marker_server.cpp.

◆ keepAlive()

void interactive_markers::InteractiveMarkerServer::keepAlive ( )

private

Definition at line 477 of file interactive_marker_server.cpp.

◆ processFeedback()

void interactive_markers::InteractiveMarkerServer::processFeedback ( const FeedbackConstPtr & feedback )

private

Definition at line 424 of file interactive_marker_server.cpp.

◆ publish()

void interactive_markers::InteractiveMarkerServer::publish ( visualization_msgs::InteractiveMarkerUpdate & update )

private

Definition at line 485 of file interactive_marker_server.cpp.

◆ publishInit()

void interactive_markers::InteractiveMarkerServer::publishInit ( )

private

Definition at line 405 of file interactive_marker_server.cpp.

◆ setCallback()

bool interactive_markers::InteractiveMarkerServer::setCallback	(	const std::string &	name,
		FeedbackCallback	feedback_cb,
		uint8_t	feedback_type = `DEFAULT_FEEDBACK_CB`
	)

Add or replace a callback function for the specified marker. Note: This change will not take effect until you call applyChanges(). The server will try to call any type-specific callback first. If none is set, it will call the default callback. If a callback for the given type already exists, it will be replaced. To unset a type-specific callback, pass in an empty one.

Parameters

name	Name of the interactive marker
feedback_cb	Function to call on the arrival of a feedback message.
feedback_type	Type of feedback for which to call the feedback. Leave this empty to make this the default callback.

Definition at line 269 of file interactive_marker_server.cpp.

◆ setPose()

bool interactive_markers::InteractiveMarkerServer::setPose	(	const std::string &	name,
		const geometry_msgs::Pose &	pose,
		const std_msgs::Header &	header = `std_msgs::Header()`
	)

Update the pose of a marker with the specified name Note: This change will not take effect until you call applyChanges()

Returns: true if a marker with that name exists

Parameters

name	Name of the interactive marker
pose	The new pose
header	Header replacement. Leave this empty to use the previous one.

Definition at line 231 of file interactive_marker_server.cpp.

◆ size()

std::size_t interactive_markers::InteractiveMarkerServer::size ( ) const

Return the number of markers contained in the server Note: Does not include markers inserted since the last applyChanges().

Returns: The number of markers contained in the server

Definition at line 225 of file interactive_marker_server.cpp.

◆ spinThread()

void interactive_markers::InteractiveMarkerServer::spinThread ( )

private

Definition at line 97 of file interactive_marker_server.cpp.

Member Data Documentation

◆ callback_queue_

ros::CallbackQueue interactive_markers::InteractiveMarkerServer::callback_queue_

private

Definition at line 228 of file interactive_marker_server.h.

◆ DEFAULT_FEEDBACK_CB

const uint8_t interactive_markers::InteractiveMarkerServer::DEFAULT_FEEDBACK_CB = 255

static

Definition at line 63 of file interactive_marker_server.h.

◆ feedback_sub_

ros::Subscriber interactive_markers::InteractiveMarkerServer::feedback_sub_

private

Definition at line 236 of file interactive_marker_server.h.

◆ init_pub_

ros::Publisher interactive_markers::InteractiveMarkerServer::init_pub_

private

Definition at line 234 of file interactive_marker_server.h.

◆ keep_alive_timer_

ros::Timer interactive_markers::InteractiveMarkerServer::keep_alive_timer_

private

Definition at line 232 of file interactive_marker_server.h.

◆ marker_contexts_

M_MarkerContext interactive_markers::InteractiveMarkerServer::marker_contexts_

private

Definition at line 215 of file interactive_marker_server.h.

◆ mutex_

boost::recursive_mutex interactive_markers::InteractiveMarkerServer::mutex_

mutableprivate

Definition at line 223 of file interactive_marker_server.h.

◆ need_to_terminate_

volatile bool interactive_markers::InteractiveMarkerServer::need_to_terminate_

private

Definition at line 229 of file interactive_marker_server.h.

◆ node_handle_

ros::NodeHandle interactive_markers::InteractiveMarkerServer::node_handle_

private

Definition at line 227 of file interactive_marker_server.h.

◆ pending_updates_

M_UpdateContext interactive_markers::InteractiveMarkerServer::pending_updates_

private

Definition at line 218 of file interactive_marker_server.h.

◆ seq_num_

uint64_t interactive_markers::InteractiveMarkerServer::seq_num_

private

Definition at line 238 of file interactive_marker_server.h.

◆ server_id_

std::string interactive_markers::InteractiveMarkerServer::server_id_

private

Definition at line 240 of file interactive_marker_server.h.

◆ spin_thread_

boost::scoped_ptr<boost::thread> interactive_markers::InteractiveMarkerServer::spin_thread_

private

Definition at line 226 of file interactive_marker_server.h.

◆ topic_ns_

std::string interactive_markers::InteractiveMarkerServer::topic_ns_

private

Definition at line 221 of file interactive_marker_server.h.

◆ update_pub_

ros::Publisher interactive_markers::InteractiveMarkerServer::update_pub_

private

Definition at line 235 of file interactive_marker_server.h.

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ FeedbackCallback

◆ FeedbackConstPtr

◆ M_MarkerContext

◆ M_UpdateContext

Constructor & Destructor Documentation

◆ InteractiveMarkerServer()

◆ ~InteractiveMarkerServer()

Member Function Documentation

◆ applyChanges()

◆ clear()

◆ doSetPose()

◆ empty()

◆ erase()

◆ get()

◆ getNames()

◆ insert() [1/2]

◆ insert() [2/2]

◆ keepAlive()

◆ processFeedback()

◆ publish()

◆ publishInit()

◆ setCallback()

◆ setPose()

◆ size()

◆ spinThread()

Member Data Documentation

◆ callback_queue_

◆ DEFAULT_FEEDBACK_CB

◆ feedback_sub_

◆ init_pub_

◆ keep_alive_timer_

◆ marker_contexts_

◆ mutex_

◆ need_to_terminate_

◆ node_handle_

◆ pending_updates_

◆ seq_num_

◆ server_id_

◆ spin_thread_

◆ topic_ns_

◆ update_pub_