.. _program_listing_file__tmp_ws_src_ros1_bridge_include_ros1_bridge_bridge.hpp:

Program Listing for File bridge.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros1_bridge_include_ros1_bridge_bridge.hpp>` (``/tmp/ws/src/ros1_bridge/include/ros1_bridge/bridge.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2015 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef ROS1_BRIDGE__BRIDGE_HPP_
   #define ROS1_BRIDGE__BRIDGE_HPP_
   
   #include <map>
   #include <memory>
   #include <string>
   
   // include ROS 1
   #include "ros/node_handle.h"
   
   // include ROS 2
   #include "rclcpp/node.hpp"
   
   #include "ros1_bridge/factory_interface.hpp"
   
   namespace ros1_bridge
   {
   
   struct Bridge1to2Handles
   {
     ros::Subscriber ros1_subscriber;
     rclcpp::PublisherBase::SharedPtr ros2_publisher;
   };
   
   struct Bridge2to1Handles
   {
     rclcpp::SubscriptionBase::SharedPtr ros2_subscriber;
     ros::Publisher ros1_publisher;
   };
   
   struct BridgeHandles
   {
     Bridge1to2Handles bridge1to2;
     Bridge2to1Handles bridge2to1;
   };
   
   bool
   get_1to2_mapping(
     const std::string & ros1_type_name,
     std::string & ros2_type_name);
   
   bool
   get_2to1_mapping(
     const std::string & ros2_type_name,
     std::string & ros1_type_name);
   
   std::multimap<std::string, std::string>
   get_all_message_mappings_2to1();
   
   std::multimap<std::string, std::string>
   get_all_service_mappings_2to1();
   
   std::shared_ptr<FactoryInterface>
   get_factory(
     const std::string & ros1_type_name,
     const std::string & ros2_type_name);
   
   std::unique_ptr<ServiceFactoryInterface>
   get_service_factory(const std::string &, const std::string &, const std::string &);
   
   Bridge1to2Handles
   create_bridge_from_1_to_2(
     ros::NodeHandle ros1_node,
     rclcpp::Node::SharedPtr ros2_node,
     const std::string & ros1_type_name,
     const std::string & ros1_topic_name,
     size_t subscriber_queue_size,
     const std::string & ros2_type_name,
     const std::string & ros2_topic_name,
     size_t publisher_queue_size);
   
   Bridge1to2Handles
   create_bridge_from_1_to_2(
     ros::NodeHandle ros1_node,
     rclcpp::Node::SharedPtr ros2_node,
     const std::string & ros1_type_name,
     const std::string & ros1_topic_name,
     size_t subscriber_queue_size,
     const std::string & ros2_type_name,
     const std::string & ros2_topic_name,
     const rclcpp::QoS & publisher_qos);
   
   Bridge2to1Handles
   create_bridge_from_2_to_1(
     rclcpp::Node::SharedPtr ros2_node,
     ros::NodeHandle ros1_node,
     const std::string & ros2_type_name,
     const std::string & ros2_topic_name,
     size_t subscriber_queue_size,
     const std::string & ros1_type_name,
     const std::string & ros1_topic_name,
     size_t publisher_queue_size,
     rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
   
   Bridge2to1Handles
   create_bridge_from_2_to_1(
     rclcpp::Node::SharedPtr ros2_node,
     ros::NodeHandle ros1_node,
     const std::string & ros2_type_name,
     const std::string & ros2_topic_name,
     const rclcpp::QoS & subscriber_qos,
     const std::string & ros1_type_name,
     const std::string & ros1_topic_name,
     size_t publisher_queue_size,
     rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
   
   BridgeHandles
   create_bidirectional_bridge(
     ros::NodeHandle ros1_node,
     rclcpp::Node::SharedPtr ros2_node,
     const std::string & ros1_type_name,
     const std::string & ros2_type_name,
     const std::string & topic_name,
     size_t queue_size = 10);
   
   BridgeHandles
   create_bidirectional_bridge(
     ros::NodeHandle ros1_node,
     rclcpp::Node::SharedPtr ros2_node,
     const std::string & ros1_type_name,
     const std::string & ros2_type_name,
     const std::string & topic_name,
     size_t queue_size,
     const rclcpp::QoS & publisher_qos);
   
   }  // namespace ros1_bridge
   
   #endif  // ROS1_BRIDGE__BRIDGE_HPP_