message_transport::SimpleSubscriberPlugin< Base, M > Class Template Reference

Base class to simplify implementing most plugins to Subscriber. More...

#include <simple_subscriber_plugin.h>

Inheritance diagram for message_transport::SimpleSubscriberPlugin< Base, M >:

[legend]

List of all members.

Classes
struct	SimpleSubscriberPluginImpl
Public Member Functions
virtual uint32_t	getNumPublishers () const
	Returns the number of publishers this subscriber is connected to.
virtual std::string	getTopic () const
	Get the transport-specific communication topic.
virtual void	shutdown ()
	Unsubscribe the callback associated with this SubscriberPlugin.
virtual	~SimpleSubscriberPlugin ()
Protected Member Functions
virtual std::string	getTopicToSubscribe (const std::string &base_topic) const
	Return the communication topic name for a given base topic.
virtual void	internalCallback (const typename M::ConstPtr &message, const typename SubscriberPlugin< Base >::Callback &user_cb)=0
	Process a message. Must be implemented by the subclass.
ros::NodeHandle &	nh ()
	Returns the ros::NodeHandle to be used for parameter lookup.
virtual void	subscribeImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const typename SubscriberPlugin< Base >::Callback &callback, const ros::VoidPtr &tracked_object, const TransportHints &transport_hints)
Private Attributes
boost::scoped_ptr < SimpleSubscriberPluginImpl >	simple_impl_

---

Detailed Description

template<class Base, class M>
class message_transport::SimpleSubscriberPlugin< Base, M >

Base class to simplify implementing most plugins to Subscriber.

The base class simplifies implementing a SubscriberPlugin in the common case that all communication with the matching PublisherPlugin happens over a single ROS topic using a transport-specific message type. SimpleSubscriberPlugin is templated on the transport-specific message type.

A subclass need implement only two methods:

• getTransportName() from SubscriberPlugin
• internalCallback() - processes a message and invoked the user Message callback if appropriate.

For access to the parameter server and name remappings, use nh().

getTopicToSubscribe() controls the name of the internal communication topic. It defaults to <base topic>/<transport name>.

Definition at line 28 of file simple_subscriber_plugin.h.

---

Constructor & Destructor Documentation

template<class Base, class M>

virtual message_transport::SimpleSubscriberPlugin< Base, M >::~SimpleSubscriberPlugin

(

)

[inline, virtual]

Definition at line 31 of file simple_subscriber_plugin.h.

---

Member Function Documentation

template<class Base, class M>

virtual uint32_t message_transport::SimpleSubscriberPlugin< Base, M >::getNumPublishers

(

)

const [inline, virtual]

Returns the number of publishers this subscriber is connected to.

Implements message_transport::SubscriberPluginGen.

Definition at line 39 of file simple_subscriber_plugin.h.

template<class Base, class M>

virtual std::string message_transport::SimpleSubscriberPlugin< Base, M >::getTopic

(

)

const [inline, virtual]

Get the transport-specific communication topic.

Implements message_transport::SubscriberPluginGen.

Definition at line 33 of file simple_subscriber_plugin.h.

template<class Base, class M>

virtual std::string message_transport::SimpleSubscriberPlugin< Base, M >::getTopicToSubscribe

(

const std::string &

base_topic

)

const [inline, protected, virtual]

Return the communication topic name for a given base topic.

Defaults to <base topic>/<transport name>.

Reimplemented in message_transport::RawSubscriber< M >.

Definition at line 65 of file simple_subscriber_plugin.h.

template<class Base, class M>

virtual void message_transport::SimpleSubscriberPlugin< Base, M >::internalCallback	(	const typename M::ConstPtr &	message,
		const typename SubscriberPlugin< Base >::Callback &	user_cb
	)			[protected, pure virtual]

Process a message. Must be implemented by the subclass.

Parameters:

	message	A message from the PublisherPlugin.
	user_cb	The user Message callback to invoke, if appropriate.

template<class Base, class M>

ros::NodeHandle& message_transport::SimpleSubscriberPlugin< Base, M >::nh

(

)

[inline, protected]

Returns the ros::NodeHandle to be used for parameter lookup.

Definition at line 84 of file simple_subscriber_plugin.h.

template<class Base, class M>

virtual void message_transport::SimpleSubscriberPlugin< Base, M >::shutdown

(

)

[inline, virtual]

Unsubscribe the callback associated with this SubscriberPlugin.

Implements message_transport::SubscriberPluginGen.

Definition at line 45 of file simple_subscriber_plugin.h.

template<class Base, class M>

virtual void message_transport::SimpleSubscriberPlugin< Base, M >::subscribeImpl	(	ros::NodeHandle &	nh,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const typename SubscriberPlugin< Base >::Callback &	callback,
		const ros::VoidPtr &	tracked_object,
		const TransportHints &	transport_hints
	)			[inline, protected, virtual]

Definition at line 70 of file simple_subscriber_plugin.h.

---

Member Data Documentation

template<class Base, class M>

boost::scoped_ptr<SimpleSubscriberPluginImpl> message_transport::SimpleSubscriberPlugin< Base, M >::simple_impl_ [private]

Definition at line 101 of file simple_subscriber_plugin.h.

---

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

• simple_subscriber_plugin.h