rtt_rosnode: rtt_rosnode: rtt_ros_service.cpp Source File

00001 #include <rtt/RTT.hpp>
00002 #include <rtt/plugin/ServicePlugin.hpp>
00003 #include <rtt/internal/GlobalService.hpp>
00004 #include <RosLib.hpp> // todo: put RosLib.hpp in include dir of rtt_rosnode package
00005 
00006 using namespace RTT;
00007 using namespace std;
00008 
00012 class ROSService : public RTT::Service {
00013 public:
00014     int protocol_id;
00019     ROSService(TaskContext* owner) 
00020         : Service("ros", owner),
00021           protocol_id(ORO_ROS_PROTOCOL_ID)
00022     {
00023         this->doc("The main ROS helper service for RTT. See also the 'rosparam' service which can be added to a component and the 'rospack' global service for finding ros packages.");
00024         // stream("Simulation.ctrl", ros.topic("/cmd_vel") )
00025         this->addOperation("topic", &ROSService::topic, this).doc("Creates a ConnPolicy for subscribing to or publishing a topic. No buffering is done, only the last sample is kept.").arg("name", "The ros topic name");
00026         this->addOperation("topicBuffer", &ROSService::topicBuffer, this).doc("Creates a ConnPolicy for subscribing to or publishing a topic.").arg("name", "The ros topic name").arg("size","The size of the buffer.");
00027         this->addConstant("protocol_id", protocol_id );
00028     }
00029 
00034     ConnPolicy topic(const std::string& name) {
00035         ConnPolicy cp = ConnPolicy::data();
00036         cp.transport = ORO_ROS_PROTOCOL_ID;
00037         cp.name_id = name;
00038         return cp;
00039     }
00040 
00046     ConnPolicy topicBuffer(const std::string& name, int size) {
00047         ConnPolicy cp = ConnPolicy::buffer(size);
00048         cp.transport = ORO_ROS_PROTOCOL_ID;
00049         cp.name_id = name;
00050         return cp;
00051     }
00052 };
00053 
00054 void loadROSService(){
00055   RTT::Service::shared_ptr rts(new ROSService(0));
00056   RTT::internal::GlobalService::Instance()->addService(rts);
00057 }