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

#include <service_action_wrappers.h>

Public Member Functions
	MultiArmTopicWrapper (std::string prefix, std::string suffix, bool resolve_names)
	Sets the node handle, prefix and suffix.
ros::Publisher &	publisher (std::string arm_name, ros::Duration timeout=ros::Duration(5.0))
	Returns a publisher for the requested arm.
Private Types
typedef std::map< std::string, ros::Publisher >	map_type
Private Attributes
ros::NodeHandle	nh_
	The node handle used to create the publisher.
std::string	prefix_
	Prefix attached to arm name to get topic name.
map_type	publishers_
	The list of publishers already created, mapped to service names.
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 topic name.

Detailed Description

template<class TopicDataType>
class object_manipulator::MultiArmTopicWrapper< TopicDataType >

A wrapper for multiple instances of a topic publisher, one for each arm in the system.

This function performs mapping from an arm_name to a topic for that arm. It obtains the name of the action by adding a prefix and/or suffix to the name of the arm.

Definition at line 276 of file service_action_wrappers.h.

Member Typedef Documentation

template<class TopicDataType>

typedef std::map<std::string, ros::Publisher> object_manipulator::MultiArmTopicWrapper< TopicDataType >::map_type [private]

Definition at line 288 of file service_action_wrappers.h.

Constructor & Destructor Documentation

template<class TopicDataType>

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

Sets the node handle, prefix and suffix.

Definition at line 299 of file service_action_wrappers.h.

Member Function Documentation

template<class TopicDataType>

ros::Publisher& object_manipulator::MultiArmTopicWrapper< TopicDataType >::publisher	(	std::string	arm_name,
		ros::Duration	timeout = `ros::Duration(5.0)`
	)		`[inline]`

Returns a publisher for the requested arm.

Topic name is obtained as prefix + arm_name + suffix. On first request for a given arm, a publisher will be initialized. On subsequent calls for the same arm, the publisher is returned directly.

Definition at line 308 of file service_action_wrappers.h.