mqtt_client Namespace Reference

Namespace for the mqtt_client package. More...

Classes
class	MqttClient
	ROS Nodelet for sending and receiving ROS messages via MQTT. More...

Functions
template<typename T >
void	deserializeRosMessage (const rclcpp::SerializedMessage &serialized_msg, T &msg)
bool	primitiveRosMessageToString (const std::shared_ptr< rclcpp::SerializedMessage > &serialized_msg, const std::string &msg_type, std::string &primitive)
	Extracts string of primitive data types from ROS message. More...
bool	primitiveRosMessageToString (const topic_tools::ShapeShifter::ConstPtr &msg, std::string &primitive)
	Extracts string of primitive data types from ROS message. More...
template<typename T >
void	serializeRosMessage (const T &msg, rclcpp::SerializedMessage &serialized_msg)
template<typename T >
void	serializeRosMessage (const T &msg, std::vector< uint8_t > &buffer)

Detailed Description

Namespace for the mqtt_client package.

Function Documentation

deserializeRosMessage()

template<typename T >

void mqtt_client::deserializeRosMessage	(	const rclcpp::SerializedMessage &	serialized_msg,
		T &	msg
	)

Deserializes a ROS message.

Template Parameters

T	ROS message type

Parameters

[in]	serialized_msg	serialized message
[out]	msg	ROS message

Definition at line 553 of file MqttClient.ros2.hpp.

primitiveRosMessageToString() [1/2]

bool mqtt_client::primitiveRosMessageToString	(	const std::shared_ptr< rclcpp::SerializedMessage > &	serialized_msg,
		const std::string &	msg_type,
		std::string &	primitive
	)

Extracts string of primitive data types from ROS message.

This is helpful to extract the actual data payload of a primitive ROS message. If e.g. an std_msgs/msg/String is serialized to a string representation, it also contains the field name 'data'. This function instead returns the underlying value as string.

Parameters

[in]	serialized_msg	generic serialized ROS message
[in]	msg_type	ROS message type, e.g. std_msgs/msg/String
[out]	primitive	string representation of primitive message data

Returns

true if primitive ROS message type was found

false if ROS message type is not primitive

Definition at line 78 of file MqttClient.ros2.cpp.

primitiveRosMessageToString() [2/2]

bool mqtt_client::primitiveRosMessageToString	(	const topic_tools::ShapeShifter::ConstPtr &	msg,
		std::string &	primitive
	)

Extracts string of primitive data types from ROS message.

This is helpful to extract the actual data payload of a primitive ROS message. If e.g. an std_msgs/String is serialized to a string representation, it also contains the field name 'data'. This function instead returns the underlying value as string.

The following primitive ROS message types are supported: std_msgs/String std_msgs/Bool std_msgs/Char std_msgs/UInt8 std_msgs/UInt16 std_msgs/UInt32 std_msgs/UInt64 std_msgs/Int8 std_msgs/Int16 std_msgs/Int32 std_msgs/Int64 std_msgs/Float32 std_msgs/Float64

Parameters

[in]	msg	generic ShapeShifter ROS message
[out]	primitive	string representation of primitive message data

Returns

true if primitive ROS message type was found

false if ROS message type is not primitive

Definition at line 95 of file MqttClient.cpp.

serializeRosMessage() [1/2]

template<typename T >

void mqtt_client::serializeRosMessage	(	const T &	msg,
		rclcpp::SerializedMessage &	serialized_msg
	)

Serializes a ROS message.

Template Parameters

T	ROS message type

Parameters

[in]	msg	ROS message
[out]	serialized_msg	serialized message

Definition at line 536 of file MqttClient.ros2.hpp.

serializeRosMessage() [2/2]

template<typename T >

void mqtt_client::serializeRosMessage	(	const T &	msg,
		std::vector< uint8_t > &	buffer
	)

Serializes a ROS message to a buffer.

Template Parameters

T	ROS message type

Parameters

[in]	msg	ROS message
[out]	buffer	buffer to serialize to

Definition at line 541 of file MqttClient.h.