Class DatabaseLoader

Defined in File database_loader.h

Class Documentation

class DatabaseLoader

This class provides the mechanism to connect to a database and reads needed ROS parameters when appropriate.

Public Functions

DatabaseLoader(const rclcpp::Node::SharedPtr &node): Takes a warehouse_ros DatabaseConnection. The DatabaseConnection is expected to have already been initialized.

inline ~DatabaseLoader()

DatabaseConnection::Ptr loadDatabase(): Load a database connection using pluginlib Looks for ROS params specifying which plugin/host/port to use. NodeHandle::searchParam() is used starting from ~ to look for warehouse_plugin, warehouse_host and warehouse_port.