init.cpp File Reference

#include "ros/init.h"
#include "ros/names.h"
#include "ros/xmlrpc_manager.h"
#include "ros/poll_manager.h"
#include "ros/connection_manager.h"
#include "ros/topic_manager.h"
#include "ros/service_manager.h"
#include "ros/this_node.h"
#include "ros/network.h"
#include "ros/file_log.h"
#include "ros/callback_queue.h"
#include "ros/param.h"
#include "ros/rosout_appender.h"
#include "ros/subscribe_options.h"
#include "ros/transport/transport_tcp.h"
#include "ros/internal_timer_manager.h"
#include "XmlRpcSocket.h"
#include "roscpp/GetLoggers.h"
#include "roscpp/SetLoggerLevel.h"
#include "roscpp/Empty.h"
#include <ros/console.h>
#include <ros/time.h>
#include <rosgraph_msgs/Clock.h>
#include <algorithm>
#include <signal.h>
#include <cstdlib>

Include dependency graph for init.cpp:

Go to the source code of this file.

Namespaces
namespace	ros
namespace	ros::file_log
	internal
namespace	ros::master
	Contains functions which allow you to query information about the master.
namespace	ros::network
	internal
namespace	ros::param
	Contains functions which allow you to query the parameter server.
namespace	ros::this_node
	Contains functions which provide information about this process' ROS node.
Functions
void	ros::atexitCallback ()
void	ros::basicSigintHandler (int sig)
void	ros::checkForShutdown ()
void	ros::clockCallback (const rosgraph_msgs::Clock::ConstPtr &msg)
bool	ros::closeAllConnections (roscpp::Empty::Request &, roscpp::Empty::Response &)
ROSCPP_DECL CallbackQueue *	ros::getGlobalCallbackQueue ()
	Returns a pointer to the global default callback queue.
CallbackQueuePtr	ros::getInternalCallbackQueue ()
bool	ros::getLoggers (roscpp::GetLoggers::Request &, roscpp::GetLoggers::Response &resp)
void	ros::file_log::init (const M_string &remappings)
void	ros::master::init (const M_string &remappings)
void	ros::this_node::init (const std::string &names, const M_string &remappings, uint32_t options)
ROSCPP_DECL void	ros::init (int &argc, char **argv, const std::string &name, uint32_t options=0)
	ROS initialization function.
void	ros::network::init (const M_string &remappings)
void	ros::param::init (const M_string &remappings)
ROSCPP_DECL void	ros::init (const M_string &remappings, const std::string &name, uint32_t options=0)
	alternate ROS initialization function.
ROSCPP_DECL void	ros::init (const VP_string &remapping_args, const std::string &name, uint32_t options=0)
	alternate ROS initialization function.
void	ros::internalCallbackQueueThreadFunc ()
ROSCPP_DECL bool	ros::isInitialized ()
	Returns whether or not ros::init() has been called.
ROSCPP_DECL bool	ros::isShuttingDown ()
	Returns whether or not ros::shutdown() has been (or is being) called.
ROSCPP_DECL bool	ros::isStarted ()
	Returns whether or not the node has been started through ros::start()
ROSCPP_DECL bool	ros::ok ()
	Check whether it's time to exit.
ROSCPP_DECL void	ros::removeROSArgs (int argc, const char *const *argv, V_string &args_out)
	returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name
ROSCPP_DECL void	ros::requestShutdown ()
	Request that the node shut itself down from within a ROS thread.
bool	ros::setLoggerLevel (roscpp::SetLoggerLevel::Request &req, roscpp::SetLoggerLevel::Response &)
ROSCPP_DECL void	ros::shutdown ()
	Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that.
void	ros::shutdownCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
ROSCPP_DECL void	ros::spin ()
	Enter simple event loop.
ROSCPP_DECL void	ros::spin (Spinner &spinner)
	Enter simple event loop.
ROSCPP_DECL void	ros::spinOnce ()
	Process a single round of callbacks.
ROSCPP_DECL void	ros::start ()
	Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.).
ROSCPP_DECL void	ros::waitForShutdown ()
	Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.
Variables
static bool	ros::g_atexit_registered = false
CallbackQueuePtr	ros::g_global_queue
static uint32_t	ros::g_init_options = 0
static bool	ros::g_initialized = false
static CallbackQueuePtr	ros::g_internal_callback_queue
static boost::thread	ros::g_internal_queue_thread
static bool	ros::g_ok = false
ROSOutAppenderPtr	ros::g_rosout_appender
static bool	ros::g_shutdown_requested = false
static volatile bool	ros::g_shutting_down = false
static boost::recursive_mutex	ros::g_shutting_down_mutex
static boost::mutex	ros::g_start_mutex
static bool	ros::g_started = false