A wrapper for multiple instances of a given service, one for each arm in the system. More...

#include <service_action_wrappers.h>

Public Member Functions
ros::ServiceClient &	client (std::string arm_name, ros::Duration timeout=ros::Duration(5.0))
	Returns a service client for the requested arm.
	MultiArmServiceWrapper (std::string prefix, std::string suffix, bool resolve_names)
	Sets the node handle, prefix and suffix.
void	setInterruptFunction (boost::function< bool()> f)
	Sets the interrupt function.
Private Types
typedef std::map< std::string, ros::ServiceClient >	map_type
Private Attributes
map_type	clients_
	The list of clients already created, mapped to service names.
boost::function< bool()>	interrupt_function_
	Function used to check for interrupts.
ros::NodeHandle	nh_
	The node handle used to create services.
std::string	prefix_
	Prefix attached to arm name to get service name.
bool	resolve_names_
	Whether the resulting name should first be resolved using the node handle.
std::string	suffix_
	Suffix attached to arm name to get service name.

Detailed Description

template<class ServiceDataType>
class object_manipulator::MultiArmServiceWrapper< ServiceDataType >

A wrapper for multiple instances of a given service, one for each arm in the system.

This function performs mapping from an arm_name to a service for that arm.

It obtains the name of the service by adding a prefix and/or suffix to the name of the arm.

For each arm, it also performs "wait on first use service". When the service for a given arm name is first requested, it will wait for the service, then create the client and return it. It will also remember the client, so that on subsequent calls the client is returned directly without additional waiting.

Definition at line 111 of file service_action_wrappers.h.

Member Typedef Documentation

template<class ServiceDataType>

typedef std::map<std::string, ros::ServiceClient> object_manipulator::MultiArmServiceWrapper< ServiceDataType >::map_type [private]

Definition at line 121 of file service_action_wrappers.h.

Constructor & Destructor Documentation

template<class ServiceDataType>

object_manipulator::MultiArmServiceWrapper< ServiceDataType >::MultiArmServiceWrapper	(	std::string	prefix,
		std::string	suffix,
		bool	resolve_names
	)		`[inline]`

Sets the node handle, prefix and suffix.

Definition at line 134 of file service_action_wrappers.h.

Member Function Documentation

template<class ServiceDataType>

ros::ServiceClient& object_manipulator::MultiArmServiceWrapper< ServiceDataType >::client	(	std::string	arm_name,
		ros::Duration	timeout = `ros::Duration(5.0)`
	)		`[inline]`

Returns a service client for the requested arm.

Service name is obtained as prefix + arm_name + suffix. On first request for a given arm, a service client will be initialized, and the service will be waited for. On subsequent calls for the same arm, the service is returned directly.

Definition at line 146 of file service_action_wrappers.h.

template<class ServiceDataType>

void object_manipulator::MultiArmServiceWrapper< ServiceDataType >::setInterruptFunction ( boost::function< bool()> f ) [inline]