Nodelet to automatically subscribe/unsubscribe topics according to subscription of advertised topics. More...

#include <connection_based_nodelet.h>

Inheritance diagram for jsk_topic_tools::ConnectionBasedNodelet:

Public Member Functions
	ConnectionBasedNodelet ()
Protected Member Functions
template<class T >
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)
	Advertise a topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and publish topic with appropriate latch parameter.
image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)
image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)
image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)
image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)
	Advertise an image topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and it and publish topic with appropriate latch parameter.
virtual void	cameraConnectionBaseCallback ()
	callback function which is called when new subscriber come for camera image publisher or camera info publisher. This function is called from cameraConnectionCallback or cameraInfoConnectionCallback.
virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for camera image publisher
virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for camera info publisher
virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come
virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for image publisher
virtual bool	isSubscribed ()
	Returns true when this nodelet subscribes topics, false otherwise.
virtual void	onInit ()
	Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method.
virtual void	onInitPostProcess ()
	Post processing of initialization of nodelet. You need to call this method in order to use always_subscribe feature.
virtual void	subscribe ()=0
	This method is called when publisher is subscribed by other nodes. Set up subscribers in this method.
virtual void	unsubscribe ()=0
	This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this method.
virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)
	callback function which is called when walltimer duration run out.
virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)
	callback function which is called when walltimer duration run out.
Protected Attributes
bool	always_subscribe_
	A flag to disable watching mechanism and always subscribe input topics. It can be specified via ~always_subscribe parameter.
std::vector < image_transport::CameraPublisher >	camera_publishers_
	List of watching camera publishers.
boost::mutex	connection_mutex_
	mutex to call subscribe() and unsubscribe() in critical section.
ConnectionStatus	connection_status_
	Status of connection.
bool	ever_subscribed_
	A flag to check if the node has been ever subscribed or not.
std::vector < image_transport::Publisher >	image_publishers_
	List of watching image publishers.
boost::shared_ptr < ros::NodeHandle >	nh_
	Shared pointer to nodehandle.
bool	on_init_post_process_called_
	Never warning on not calling onInitPostProcess if true.
boost::shared_ptr < ros::NodeHandle >	pnh_
	Shared pointer to private nodehandle.
std::vector< ros::Publisher >	publishers_
	List of watching publishers.
bool	subscribed_
	A flag to check if any publisher is already subscribed or not.
ros::WallTimer	timer_warn_never_subscribed_
	WallTimer instance for warning about no connection.
ros::WallTimer	timer_warn_on_init_post_process_called_
	WallTimer instance for warning about no connection.
bool	verbose_connection_
	true if `~verbose_connection` or `verbose_connection` parameter is true.

Detailed Description

Nodelet to automatically subscribe/unsubscribe topics according to subscription of advertised topics.

It's important not to subscribe topic if no output is required.

In order to watch advertised topics, need to use advertise template method. And create subscribers in subscribe() and shutdown them in unsubscribed().

Definition at line 68 of file connection_based_nodelet.h.

Constructor & Destructor Documentation

jsk_topic_tools::ConnectionBasedNodelet::ConnectionBasedNodelet ( ) [inline]

Definition at line 71 of file connection_based_nodelet.h.

Member Function Documentation

template<class T >

ros::Publisher jsk_topic_tools::ConnectionBasedNodelet::advertise	(	ros::NodeHandle &	nh,
		std::string	topic,
		int	queue_size
	)		`[inline, protected]`

Advertise a topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and publish topic with appropriate latch parameter.

Parameters:

nh	NodeHandle.
topic	topic name to advertise.
queue_size	queue size for publisher.
latch	set true if latch topic publication.

Returns:: Publisher for the advertised topic.

Definition at line 166 of file connection_based_nodelet.h.

image_transport::CameraPublisher jsk_topic_tools::ConnectionBasedNodelet::advertiseCamera	(	ros::NodeHandle &	nh,
		image_transport::ImageTransport &	it,
		const std::string &	topic,
		int	queue_size
	)		`[inline, protected]`

Definition at line 234 of file connection_based_nodelet.h.

image_transport::CameraPublisher jsk_topic_tools::ConnectionBasedNodelet::advertiseCamera	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		int	queue_size
	)		`[inline, protected]`

Definition at line 244 of file connection_based_nodelet.h.

image_transport::Publisher jsk_topic_tools::ConnectionBasedNodelet::advertiseImage	(	ros::NodeHandle &	nh,
		image_transport::ImageTransport &	it,
		const std::string &	topic,
		int	queue_size
	)		`[inline, protected]`

Definition at line 187 of file connection_based_nodelet.h.

image_transport::Publisher jsk_topic_tools::ConnectionBasedNodelet::advertiseImage	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		int	queue_size
	)		`[inline, protected]`

Advertise an image topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and it and publish topic with appropriate latch parameter.

Parameters:

nh	NodeHandle.
topic	topic name to advertise.
queue_size	queue size for publisher.
latch	set true if latch topic publication.

Returns:: Publisher for the advertised topic.

Definition at line 209 of file connection_based_nodelet.h.

void jsk_topic_tools::ConnectionBasedNodelet::cameraConnectionBaseCallback ( ) [protected, virtual]

callback function which is called when new subscriber come for camera image publisher or camera info publisher. This function is called from cameraConnectionCallback or cameraInfoConnectionCallback.

Definition at line 189 of file connection_based_nodelet.cpp.

void jsk_topic_tools::ConnectionBasedNodelet::cameraConnectionCallback ( const image_transport::SingleSubscriberPublisher & pub ) [protected, virtual]

callback function which is called when new subscriber come for camera image publisher

Definition at line 177 of file connection_based_nodelet.cpp.

void jsk_topic_tools::ConnectionBasedNodelet::cameraInfoConnectionCallback ( const ros::SingleSubscriberPublisher & pub ) [protected, virtual]

callback function which is called when new subscriber come for camera info publisher

Definition at line 183 of file connection_based_nodelet.cpp.

void jsk_topic_tools::ConnectionBasedNodelet::connectionCallback ( const ros::SingleSubscriberPublisher & pub ) [protected, virtual]

callback function which is called when new subscriber come

Definition at line 110 of file connection_based_nodelet.cpp.

void jsk_topic_tools::ConnectionBasedNodelet::imageConnectionCallback ( const image_transport::SingleSubscriberPublisher & pub ) [protected, virtual]

callback function which is called when new subscriber come for image publisher

Definition at line 143 of file connection_based_nodelet.cpp.

bool jsk_topic_tools::ConnectionBasedNodelet::isSubscribed ( ) [inline, protected, virtual]

Returns true when this nodelet subscribes topics, false otherwise.

Definition at line 90 of file connection_based_nodelet.cpp.

void jsk_topic_tools::ConnectionBasedNodelet::onInit ( ) [protected, virtual]

Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method.

Implements nodelet::Nodelet.

Reimplemented in jsk_topic_tools::DiagnosticNodelet, jsk_topic_tools::VitalCheckerNodelet, and jsk_topic_tools::StringRelay.

Definition at line 41 of file connection_based_nodelet.cpp.

void jsk_topic_tools::ConnectionBasedNodelet::onInitPostProcess ( ) [protected, virtual]

Post processing of initialization of nodelet. You need to call this method in order to use always_subscribe feature.

Definition at line 80 of file connection_based_nodelet.cpp.

virtual void jsk_topic_tools::ConnectionBasedNodelet::subscribe ( ) [protected, pure virtual]

This method is called when publisher is subscribed by other nodes. Set up subscribers in this method.

Implemented in jsk_topic_tools::VitalCheckerNodelet, and jsk_topic_tools::StringRelay.

virtual void jsk_topic_tools::ConnectionBasedNodelet::unsubscribe ( ) [protected, pure virtual]

This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this method.

Implemented in jsk_topic_tools::VitalCheckerNodelet, and jsk_topic_tools::StringRelay.

void jsk_topic_tools::ConnectionBasedNodelet::warnNeverSubscribedCallback ( const ros::WallTimerEvent & event ) [protected, virtual]

callback function which is called when walltimer duration run out.

Definition at line 103 of file connection_based_nodelet.cpp.

void jsk_topic_tools::ConnectionBasedNodelet::warnOnInitPostProcessCalledCallback ( const ros::WallTimerEvent & event ) [protected, virtual]

callback function which is called when walltimer duration run out.

Definition at line 96 of file connection_based_nodelet.cpp.

Member Data Documentation

bool jsk_topic_tools::ConnectionBasedNodelet::always_subscribe_ [protected]

A flag to disable watching mechanism and always subscribe input topics. It can be specified via ~always_subscribe parameter.

Definition at line 326 of file connection_based_nodelet.h.

std::vector<image_transport::CameraPublisher> jsk_topic_tools::ConnectionBasedNodelet::camera_publishers_ [protected]

List of watching camera publishers.

Definition at line 293 of file connection_based_nodelet.h.

boost::mutex jsk_topic_tools::ConnectionBasedNodelet::connection_mutex_ [protected]

mutex to call subscribe() and unsubscribe() in critical section.

Definition at line 278 of file connection_based_nodelet.h.

ConnectionStatus jsk_topic_tools::ConnectionBasedNodelet::connection_status_ [protected]

Status of connection.

Definition at line 331 of file connection_based_nodelet.h.

bool jsk_topic_tools::ConnectionBasedNodelet::ever_subscribed_ [protected]

A flag to check if the node has been ever subscribed or not.

Definition at line 320 of file connection_based_nodelet.h.

std::vector<image_transport::Publisher> jsk_topic_tools::ConnectionBasedNodelet::image_publishers_ [protected]

List of watching image publishers.

Definition at line 288 of file connection_based_nodelet.h.

boost::shared_ptr<ros::NodeHandle> jsk_topic_tools::ConnectionBasedNodelet::nh_ [protected]

Shared pointer to nodehandle.

Reimplemented from nodelet::Nodelet.

Definition at line 298 of file connection_based_nodelet.h.

bool jsk_topic_tools::ConnectionBasedNodelet::on_init_post_process_called_ [protected]

Never warning on not calling onInitPostProcess if true.

Definition at line 341 of file connection_based_nodelet.h.

boost::shared_ptr<ros::NodeHandle> jsk_topic_tools::ConnectionBasedNodelet::pnh_ [protected]

Shared pointer to private nodehandle.

Definition at line 303 of file connection_based_nodelet.h.

std::vector<ros::Publisher> jsk_topic_tools::ConnectionBasedNodelet::publishers_ [protected]

List of watching publishers.

Definition at line 283 of file connection_based_nodelet.h.

bool jsk_topic_tools::ConnectionBasedNodelet::subscribed_ [protected]

A flag to check if any publisher is already subscribed or not.

Definition at line 314 of file connection_based_nodelet.h.

ros::WallTimer jsk_topic_tools::ConnectionBasedNodelet::timer_warn_never_subscribed_ [protected]

WallTimer instance for warning about no connection.

Definition at line 308 of file connection_based_nodelet.h.

ros::WallTimer jsk_topic_tools::ConnectionBasedNodelet::timer_warn_on_init_post_process_called_ [protected]

WallTimer instance for warning about no connection.

Definition at line 346 of file connection_based_nodelet.h.

bool jsk_topic_tools::ConnectionBasedNodelet::verbose_connection_ [protected]

true if `~verbose_connection` or `verbose_connection` parameter is true.

Definition at line 336 of file connection_based_nodelet.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation