Class NetworkBridge

Defined in File network_bridge.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class NetworkBridge : public rclcpp::Node

A class that provides bridging of ROS2 topics over a network interface.

The NetworkBridge class is derived from the rclcpp::Node class and provides functionality for sending and receiving telemetry data over network. It handles the setup of a network interface, parsing and creating headers, compressing and decompressing data, and error handling. The class also manages the ROS 2 subscriptions, timers, and publishers associated with the communication.

Public Functions

explicit NetworkBridge(const std::string &node_name)

Constructs a NetworkBridge object.

This constructor initializes a NetworkBridge object with the specified node name.

Parameters:: node_name – The name of the ROS 2 node.

virtual void initialize()

Loads parameters, loads network interface, and opens the network interface.

It should be called before any other functions are called on the object.

Protected Functions

virtual void load_parameters(): Loads default parameters and creates subsciption managers for each topic.

virtual void load_network_interface(): Loads the network interface as a dynamic plugin and initializes it.

virtual void receive_data(std::span<const uint8_t> data)

Callback function for handling received data.

Parameters:: data – The data to be received, represented as a span.

virtual void send_data(std::shared_ptr<SubscriptionManager> manager)

Sends data to the network interface.

Parameters:: manager – A shared pointer to the SubscriptionManager object.

virtual std::vector<uint8_t> create_header(const std::string &topic, const std::string &msg_type)

Creates a header for the message.

Parameters:

topic – The topic of the message.
msg_type – The type of the message.
header – The header to be created.

virtual void parse_header(const std::vector<uint8_t> &header, std::string &topic, std::string &msg_type, double &time)

Parses the header of the message.

Parameters:

header – The header to be parsed.
topic – The topic of the message.
msg_type – The type of the message.
time – The time the message was sent.

virtual void compress(std::vector<uint8_t> const &data, std::vector<uint8_t> &compressed_data, int zstd_compression_level = 3)

Compresses the given data using Zstandard compression algorithm.

Parameters:

data – The input data to be compressed.
compressed_data – [out] The vector to store the compressed data.
zstd_compression_level – The compression level to be used (default: 3).

virtual void decompress(std::span<const uint8_t> compressed_data, std::vector<uint8_t> &data)

Decompresses the given compressed data.

This function takes a span of compressed data and decompresses it, storing the result in the provided data vector

Parameters:

compressed_data – The compressed data to be decompressed.
data – [out] The vector to store the decompressed data.

Protected Attributes

pluginlib::ClassLoader<network_bridge::NetworkInterface> loader_

A class template that provides a plugin loader for network interfaces.

Template Parameters:: InterfaceT – The interface type that the loaded plugins must implement.

std::string network_interface_name_: The name of the network interface plugin.

std::shared_ptr<network_bridge::NetworkInterface> network_interface_: A shared pointer to an instance of the network_bridge::NetworkInterface class.

std::vector<std::shared_ptr<SubscriptionManager>> sub_mgrs_

A vector of the SubscriptionManager’s for each topic.

These are stored to keep them from going out of scope, but are not used directly.

std::vector<rclcpp::TimerBase::SharedPtr> timers_

A vector of timers for sending each received topic over network.

These are stroed to keep them from going out of scope.